| #!/bin/bash |
| echo "Executing glomapMapper.sh ..." |
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| sequence_path="$1" |
| exp_folder="$2" |
| exp_id="$3" |
| verbose="$4" |
| settings_yaml="$5" |
| calibration_yaml="$6" |
| rgb_txt="$7" |
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| exp_folder_colmap="${exp_folder}/colmap_${exp_id}" |
| rgb_path="${sequence_path}/$(awk '{print $2}' "${rgb_txt}" | awk -F'/' 'NR==1 {print $1}')" |
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| calibration_model=$(grep -oP '(?<=Camera\.model:\s)[\w]+' "$calibration_yaml") |
| echo " camera model : $calibration_model" |
| optimize_intrinsics="0" |
| skip_view_graph_calibration="1" |
| if [ "${calibration_model}" == "UNKNOWN" ] |
| then |
| optimize_intrinsics="1" |
| skip_view_graph_calibration="0" |
| fi |
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| BundleAdjustment_thres_loss_function=$(yq '.BundleAdjustment.thres_loss_function // 1.0' $settings_yaml) |
| RelPoseEstimation_max_epipolar_error=$(yq '.RelPoseEstimation.max_epipolar_error // 1.0' $settings_yaml) |
| GlobalPositioning_thres_loss_function=$(yq '.GlobalPositioning.thres_loss_function // 0.10000000000000001' $settings_yaml) |
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| Triangulation_complete_max_reproj_error=$(yq '.Triangulation.complete_max_reproj_error // 15.0' $settings_yaml) |
| Triangulation_merge_max_reproj_error=$(yq '.Triangulation.merge_max_reproj_error // 15.0' $settings_yaml) |
| Triangulation_min_angle=$(yq '.Triangulation.min_angle // 1.0' $settings_yaml) |
| Triangulation_min_num_matches=$(yq '.Triangulation.min_num_matches // 15.0' $settings_yaml) |
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| Thresholds_max_epipolar_error_E=$(yq '.Thresholds.max_epipolar_error_E // 1.0' $settings_yaml) |
| Thresholds_max_epipolar_error_F=$(yq '.Thresholds.max_epipolar_error_F // 4.0' $settings_yaml) |
| Thresholds_max_epipolar_error_H=$(yq '.Thresholds.max_epipolar_error_H // 4.0' $settings_yaml) |
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| Thresholds_min_inlier_num=$(yq '.Thresholds.min_inlier_num // 30.0' $settings_yaml) |
| Thresholds_min_inlier_ratio=$(yq '.Thresholds.min_inlier_ratio // 0.25' $settings_yaml) |
| Thresholds_max_rotation_error=$(yq '.Thresholds.max_rotation_error // 10.0' $settings_yaml) |
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| Thresholds_max_angle_error=$(yq '.Thresholds.max_angle_error // 1.0' $settings_yaml) |
| Thresholds_max_reprojection_error=$(yq '.Thresholds.max_reprojection_error // 0.01' $settings_yaml) |
| Thresholds_min_triangulation_angle=$(yq '.Thresholds.min_triangulation_angle // 1.0' $settings_yaml) |
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| echo " glomap mapper ..." |
| database="${exp_folder_colmap}/colmap_database.db" |
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| glomap mapper \ |
| --database_path ${database} \ |
| --image_path ${rgb_path} \ |
| --output_path ${exp_folder_colmap} \ |
| --skip_view_graph_calibration "${skip_view_graph_calibration}" \ |
| --RelPoseEstimation.max_epipolar_error "${RelPoseEstimation_max_epipolar_error}" \ |
| --GlobalPositioning.thres_loss_function "${GlobalPositioning_thres_loss_function}" \ |
| --BundleAdjustment.optimize_intrinsics "$optimize_intrinsics" |
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| echo " colmap model_converter ..." |
| colmap model_converter \ |
| --input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT |
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