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343702d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 | #!/bin/bash
echo "Executing glomapMapper.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 : $calibration_model"
optimize_intrinsics="0"
skip_view_graph_calibration="1"
if [ "${calibration_model}" == "unknown" ]
then
optimize_intrinsics="1"
skip_view_graph_calibration="0"
fi
echo " glomap mapper ..."
database="${exp_folder_colmap}/colmap_database.db"
glomap mapper \
--database_path "${database}" \
--image_path "${rgb_path}" \
--output_path "${exp_folder_colmap}" \
--skip_view_graph_calibration "${skip_view_graph_calibration}" \
--BundleAdjustment.optimize_intrinsics "${BundleAdjustment_optimize_intrinsics}"
# colmap image_undistorter \
# --image_path "${rgb_path}" \
# --input_path "${exp_folder_colmap}/0" \
# --output_path "${exp_folder_colmap}" \
# --output_type COLMAP \
# --max_image_size 2000
# colmap patch_match_stereo \
# --workspace_path "${exp_folder_colmap}" \
# --workspace_format COLMAP \
# --PatchMatchStereo.cache_size 64 \
# --PatchMatchStereo.filter true \
# --PatchMatchStereo.window_step 2 \
# --PatchMatchStereo.geom_consistency true
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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