#!/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