add matcher script

colmap_matcher.sh

@@ -0,0 +1,195 @@
+#!/bin/bash
+echo ""
+echo "Executing colmapMatcher.sh ..."
+
+sequence_path="$1"
+exp_folder="$2" 
+exp_id="$3" 
+matcher_type="$4" # Options: exhaustive, sequential
+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+' "$calibration_yaml")
+k4=0.0
+k5=0.0
+k6=0.0
+
+# Reading settings from yaml file
+feature_extractor_SiftExtraction_num_octaves=$(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' $settings_yaml)
+
+# Create colmap image list
+colmap_image_list="${exp_folder_colmap}/colmap_image_list.txt"
+awk '{split($2, arr, "/"); print arr[2]}' "$rgb_txt" > "$colmap_image_list"
+
+# Create Colmap Database
+database="${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 < ${rgb_txt})
+
+  # Pick vocabulary tree based on the number of images
+  vocabulary_tree="Baselines/glomap/vocab_tree_flickr100K_words32K.bin"
+  if [ "$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