#!/bin/bash
echo "Executing colmap_mapper.sh ..."

sequence_path="$1" 
exp_folder="$2" 
exp_id="$3" 
settings_yaml="$4"
calibration_yaml="$5"
rgb_csv="$6"
camera_name="$7"

exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
rgb_dir="${camera_name}"
rgb_path="${sequence_path}/${rgb_dir}"

read -r calibration_model more_ <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
echo "        camera model : $calibration_model"
ba_refine_focal_length="0"
ba_refine_principal_point="0"
ba_refine_extra_params="0"
if [ "${calibration_model}" == "unknown" ]
then
  ba_refine_focal_length="1"
  ba_refine_principal_point="1"
  ba_refine_extra_params="1"
fi

echo "    colmap mapper ..."
database="${exp_folder_colmap}/colmap_database.db"

colmap mapper \
    --database_path ${database} \
    --image_path ${rgb_path} \
    --output_path ${exp_folder_colmap} \
    --Mapper.ba_refine_focal_length ${ba_refine_focal_length} \
    --Mapper.ba_refine_principal_point ${ba_refine_principal_point} \
    --Mapper.ba_refine_extra_params ${ba_refine_extra_params}

echo "    colmap model_converter ..."
colmap model_converter \
	--input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT