Class COLMAPDatabase

marimapper/pycolmap_tools/database.py:145–292

class COLMAPDatabase(sqlite3.Connection):
    @staticmethod
    def connect(database_path):
        return sqlite3.connect(database_path, factory=COLMAPDatabase)

    def __init__(self, *args, **kwargs):
        super(COLMAPDatabase, self).__init__(*args, **kwargs)

        self.create_tables = lambda: self.executescript(CREATE_ALL)
        self.create_cameras_table = lambda: self.executescript(
            CREATE_CAMERAS_TABLE
        )
        self.create_descriptors_table = lambda: self.executescript(
            CREATE_DESCRIPTORS_TABLE
        )
        self.create_images_table = lambda: self.executescript(
            CREATE_IMAGES_TABLE
        )
        self.create_two_view_geometries_table = lambda: self.executescript(
            CREATE_TWO_VIEW_GEOMETRIES_TABLE
        )
        self.create_keypoints_table = lambda: self.executescript(
            CREATE_KEYPOINTS_TABLE
        )
        self.create_matches_table = lambda: self.executescript(
            CREATE_MATCHES_TABLE
        )
        self.create_name_index = lambda: self.executescript(CREATE_NAME_INDEX)

    def add_camera(
            self,
            model,
            width,
            height,
            params,
            prior_focal_length=False,
            camera_id=None,
    ):
        params = np.asarray(params, np.float64)
        cursor = self.execute(
            "INSERT INTO cameras VALUES (?, ?, ?, ?, ?, ?)",
            (
                camera_id,
                model,
                width,
                height,
                array_to_blob(params),
                prior_focal_length,
            ),
        )
        return cursor.lastrowid

    def add_image(
            self,
            name,
            camera_id,
            prior_q=np.full(4, np.nan),
            prior_t=np.full(3, np.nan),