| #!/bin/bash |
| echo "" |
| echo "Executing colmapMatcher.sh ..." |
|
|
| sequence_path="$1" |
| exp_folder="$2" |
| exp_id="$3" |
| matcher_type="$4" |
| use_gpu="$5" |
| settings_yaml="$6" |
| calibration_yaml="$7" |
| rgb_txt="$8" |
|
|
| exp_folder_colmap="${exp_folder}/colmap_${exp_id}" |
| rgb_path="${sequence_path}/$(awk '{print $2}' "${rgb_txt}" | awk -F'/' 'NR==1 {print $1}')" |
|
|
| calibration_model=$(grep -oP '(?<=Camera\.model:\s)[\w]+' "$calibration_yaml") |
|
|
| fx=$(grep -oP '(?<=Camera\.fx:\s)-?\d+\.\d+' "$calibration_yaml") |
| fy=$(grep -oP '(?<=Camera\.fy:\s)-?\d+\.\d+' "$calibration_yaml") |
| cx=$(grep -oP '(?<=Camera\.cx:\s)-?\d+\.\d+' "$calibration_yaml") |
| cy=$(grep -oP '(?<=Camera\.cy:\s)-?\d+\.\d+' "$calibration_yaml") |
|
|
| k1=$(grep -oP '(?<=Camera\.k1:\s)-?\d+\.\d+' "$calibration_yaml") |
| k2=$(grep -oP '(?<=Camera\.k2:\s)-?\d+\.\d+' "$calibration_yaml") |
| p1=$(grep -oP '(?<=Camera\.p1:\s)-?\d+\.\d+' "$calibration_yaml") |
| p2=$(grep -oP '(?<=Camera\.p2:\s)-?\d+\.\d+' "$calibration_yaml") |
| k3=$(grep -oP '(?<=Camera\.k3:\s)-?\d+\.\d+' "$calibration_yaml") |
| k4=0.0 |
| k5=0.0 |
| k6=0.0 |
|
|
| |
| feature_extractor_SiftExtraction_num_octaves=$(yq '.feature_extractor.SiftExtraction_num_octaves // 4.0' $settings_yaml) |
| feature_extractor_SiftExtraction_octave_resolution=$(yq '.feature_extractor.SiftExtraction_octave_resolution // 3.0' $settings_yaml) |
| feature_extractor_SiftExtraction_peak_threshold=$(yq '.feature_extractor.SiftExtraction_peak_threshold // 0.0066666666666666671' $settings_yaml) |
| feature_extractor_SiftExtraction_edge_threshold=$(yq '.feature_extractor.SiftExtraction_edge_threshold // 10.0' $settings_yaml) |
| feature_extractor_SiftExtraction_dsp_min_scale=$(yq '.feature_extractor.SiftExtraction_dsp_min_scale // 0.1666666666666666' $settings_yaml) |
| feature_extractor_SiftExtraction_dsp_max_scale=$(yq '.feature_extractor.SiftExtraction_dsp_max_scale // 3.0' $settings_yaml) |
| feature_extractor_SiftExtraction_dsp_num_scales=$(yq '.feature_extractor.SiftExtraction_dsp_num_scales // 10.0' $settings_yaml) |
|
|
| matcher_SiftMatching_max_ratio=$(yq '.matcher.SiftMatching_max_ratio // 0.80000000000000004' $settings_yaml) |
| matcher_SiftMatching_max_distance=$(yq '.matcher.SiftMatching_max_distance // 0.69999999999999996' $settings_yaml) |
| matcher_TwoViewGeometry_min_num_inliers=$(yq '.matcher.TwoViewGeometry_min_num_inliers // 15.0' $settings_yaml) |
| matcher_TwoViewGeometry_max_error=$(yq '.matcher.TwoViewGeometry_max_error // 4.0' $settings_yaml) |
| matcher_TwoViewGeometry_confidence=$(yq '.matcher.TwoViewGeometry_confidence // 0.999' $settings_yaml) |
| matcher_TwoViewGeometry_min_inlier_ratio=$(yq '.matcher.TwoViewGeometry_min_inlier_ratio // 0.25' $settings_yaml) |
| matcher_SequentialMatching_overlap=$(yq '.matcher.SequentialMatching_overlap // 10.0' $settings_yaml) |
| matcher_SequentialMatching_quadratic_overlap=$(yq '.matcher.SequentialMatching_quadratic_overlap // 1.0' $settings_yaml) |
| matcher_ExhaustiveMatching_block_size=$(yq '.matcher.ExhaustiveMatching_block_size // 50.0' $settings_yaml) |
|
|
| |
| colmap_image_list="${exp_folder_colmap}/colmap_image_list.txt" |
| awk '{split($2, arr, "/"); print arr[2]}' "$rgb_txt" > "$colmap_image_list" |
|
|
| |
| database="${exp_folder_colmap}/colmap_database.db" |
| rm -rf ${database} |
| colmap database_creator --database_path ${database} |
|
|
| |
| echo " colmap feature_extractor ..." |
|
|
| if [ "${calibration_model}" == "UNKNOWN" ] |
| then |
| echo " camera model : $calibration_model" |
| colmap feature_extractor \ |
| --database_path ${database} \ |
| --image_path ${rgb_path} \ |
| --image_list_path ${colmap_image_list} \ |
| --ImageReader.camera_model SIMPLE_PINHOLE \ |
| --ImageReader.single_camera 1 \ |
| --ImageReader.single_camera_per_folder 1 \ |
| --SiftExtraction.use_gpu ${use_gpu} \ |
| --SiftExtraction.num_octaves ${feature_extractor_SiftExtraction_num_octaves} \ |
| --SiftExtraction.octave_resolution ${feature_extractor_SiftExtraction_octave_resolution} \ |
| --SiftExtraction.peak_threshold ${feature_extractor_SiftExtraction_peak_threshold} \ |
| --SiftExtraction.edge_threshold ${feature_extractor_SiftExtraction_edge_threshold} \ |
| --SiftExtraction.dsp_min_scale ${feature_extractor_SiftExtraction_dsp_min_scale} \ |
| --SiftExtraction.dsp_max_scale ${feature_extractor_SiftExtraction_dsp_max_scale} \ |
| --SiftExtraction.dsp_num_scales ${feature_extractor_SiftExtraction_dsp_num_scales} |
| fi |
|
|
| feature_extractor_SiftExtraction_dsp_num_scales=$(yq '.feature_extractor.SiftExtraction_dsp_num_scales // 10.0' $settings_yaml) |
|
|
|
|
| if [ "${calibration_model}" == "PINHOLE" ] |
| then |
| echo " camera model : $calibration_model" |
| colmap feature_extractor \ |
| --database_path ${database} \ |
| --image_path ${rgb_path} \ |
| --image_list_path ${colmap_image_list} \ |
| --ImageReader.camera_model ${calibration_model} \ |
| --ImageReader.single_camera 1 \ |
| --ImageReader.single_camera_per_folder 1 \ |
| --SiftExtraction.use_gpu ${use_gpu} \ |
| --ImageReader.camera_params "${fx}, ${fy}, ${cx}, ${cy}" \ |
| --SiftExtraction.num_octaves ${feature_extractor_SiftExtraction_num_octaves} \ |
| --SiftExtraction.octave_resolution ${feature_extractor_SiftExtraction_octave_resolution} \ |
| --SiftExtraction.peak_threshold ${feature_extractor_SiftExtraction_peak_threshold} \ |
| --SiftExtraction.edge_threshold ${feature_extractor_SiftExtraction_edge_threshold} \ |
| --SiftExtraction.dsp_min_scale ${feature_extractor_SiftExtraction_dsp_min_scale} \ |
| --SiftExtraction.dsp_max_scale ${feature_extractor_SiftExtraction_dsp_max_scale} \ |
| --SiftExtraction.dsp_num_scales ${feature_extractor_SiftExtraction_dsp_num_scales} |
| fi |
|
|
| if [ "${calibration_model}" == "OPENCV" ] |
| then |
| echo " camera model : $calibration_model" |
| colmap feature_extractor \ |
| --database_path ${database} \ |
| --image_path ${rgb_path} \ |
| --image_list_path ${colmap_image_list} \ |
| --ImageReader.camera_model ${calibration_model} \ |
| --ImageReader.single_camera 1 \ |
| --ImageReader.single_camera_per_folder 1 \ |
| --SiftExtraction.use_gpu ${use_gpu} \ |
| --ImageReader.camera_params "${fx}, ${fy}, ${cx}, ${cy}, ${k1}, ${k2}, ${p1}, ${p2}" \ |
| --SiftExtraction.num_octaves ${feature_extractor_SiftExtraction_num_octaves} \ |
| --SiftExtraction.octave_resolution ${feature_extractor_SiftExtraction_octave_resolution} \ |
| --SiftExtraction.peak_threshold ${feature_extractor_SiftExtraction_peak_threshold} \ |
| --SiftExtraction.edge_threshold ${feature_extractor_SiftExtraction_edge_threshold} \ |
| --SiftExtraction.dsp_min_scale ${feature_extractor_SiftExtraction_dsp_min_scale} \ |
| --SiftExtraction.dsp_max_scale ${feature_extractor_SiftExtraction_dsp_max_scale} \ |
| --SiftExtraction.dsp_num_scales ${feature_extractor_SiftExtraction_dsp_num_scales} |
| fi |
|
|
| if [ "${calibration_model}" == "OPENCV_FISHEYE" ] |
| then |
| echo " camera model : $calibration_model" |
| colmap feature_extractor \ |
| --database_path ${database} \ |
| --image_path ${rgb_path} \ |
| --image_list_path ${colmap_image_list} \ |
| --ImageReader.camera_model ${calibration_model} \ |
| --ImageReader.single_camera 1 \ |
| --ImageReader.single_camera_per_folder 1 \ |
| --SiftExtraction.use_gpu ${use_gpu} \ |
| --ImageReader.camera_params "${fx}, ${fy}, ${cx}, ${cy}, ${k1}, ${k2}, ${k3}, ${k4}" \ |
| --SiftExtraction.num_octaves ${feature_extractor_SiftExtraction_num_octaves} \ |
| --SiftExtraction.octave_resolution ${feature_extractor_SiftExtraction_octave_resolution} \ |
| --SiftExtraction.peak_threshold ${feature_extractor_SiftExtraction_peak_threshold} \ |
| --SiftExtraction.edge_threshold ${feature_extractor_SiftExtraction_edge_threshold} \ |
| --SiftExtraction.dsp_min_scale ${feature_extractor_SiftExtraction_dsp_min_scale} \ |
| --SiftExtraction.dsp_max_scale ${feature_extractor_SiftExtraction_dsp_max_scale} \ |
| --SiftExtraction.dsp_num_scales ${feature_extractor_SiftExtraction_dsp_num_scales} |
| fi |
|
|
| |
| if [ "${matcher_type}" == "exhaustive" ] |
| then |
| echo " colmap exhaustive_matcher ..." |
| colmap exhaustive_matcher \ |
| --database_path ${database} \ |
| --SiftMatching.use_gpu ${use_gpu} \ |
| --SiftMatching.max_ratio "${matcher_SiftMatching_max_ratio}" \ |
| --SiftMatching.max_distance "${matcher_SiftMatching_max_distance}" \ |
| --TwoViewGeometry.min_num_inliers "${matcher_TwoViewGeometry_min_num_inliers}" \ |
| --TwoViewGeometry.max_error "${matcher_TwoViewGeometry_max_error}" \ |
| --TwoViewGeometry.confidence "${matcher_TwoViewGeometry_confidence}" \ |
| --TwoViewGeometry.min_inlier_ratio "${matcher_TwoViewGeometry_min_inlier_ratio}" \ |
| --ExhaustiveMatching.block_size "${matcher_ExhaustiveMatching_block_size}" |
|
|
| fi |
|
|
| if [ "${matcher_type}" == "sequential" ] |
| then |
| num_rgb=$(wc -l < ${rgb_txt}) |
|
|
| |
| vocabulary_tree="Baselines/glomap/vocab_tree_flickr100K_words32K.bin" |
| if [ "$num_rgb" -gt 1000 ]; then |
| vocabulary_tree="Baselines/glomap/vocab_tree_flickr100K_words256K.bin" |
| fi |
| if [ "$num_rgb" -gt 10000 ]; then |
| vocabulary_tree="Baselines/glomap/vocab_tree_flickr100K_words1M.bin" |
| fi |
|
|
| echo " colmap sequential_matcher ..." |
| echo " Vocabulary Tree: $vocabulary_tree" |
| colmap sequential_matcher \ |
| --database_path "${database}" \ |
| --SequentialMatching.loop_detection 1 \ |
| --SequentialMatching.vocab_tree_path ${vocabulary_tree} \ |
| --SiftMatching.use_gpu "${use_gpu}" \ |
| --SiftMatching.max_ratio "${matcher_SiftMatching_max_ratio}" \ |
| --SiftMatching.max_distance "${matcher_SiftMatching_max_distance}" \ |
| --TwoViewGeometry.min_num_inliers "${matcher_TwoViewGeometry_min_num_inliers}" \ |
| --TwoViewGeometry.max_error "${matcher_TwoViewGeometry_max_error}" \ |
| --TwoViewGeometry.confidence "${matcher_TwoViewGeometry_confidence}" \ |
| --TwoViewGeometry.min_inlier_ratio "${matcher_TwoViewGeometry_min_inlier_ratio}" \ |
| --SequentialMatching.overlap "${matcher_SequentialMatching_overlap}" \ |
| --SequentialMatching.quadratic_overlap "${matcher_SequentialMatching_quadratic_overlap}" |
| fi |
