vslamlab integration

glomap_mapper.sh

@@ -6,13 +6,14 @@ exp_folder="$2"
 exp_id="$3" 
 settings_yaml="$4"
 calibration_yaml="$5"
-rgb_txt="$6"
+rgb_csv="$6"
 
 
 exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
-rgb_path="${sequence_path}/$(awk '{print $2}' "${rgb_txt}" | awk -F'/' 'NR==1 {print $1}')"
+rgb_dir=$(awk -F, 'NR==2 { split($2,a,"/"); print a[1]; exit }' "$rgb_csv")
+rgb_path="${sequence_path}/${rgb_dir}"
 
-calibration_model=$(grep -oP '(?<=Camera\.model:\s)[\w]+' "$calibration_yaml")
+calibration_model=$(grep -oP '(?<=Camera0\.model:\s)[\w]+' "$calibration_yaml")
 echo "        camera model : $calibration_model"
 optimize_intrinsics="0"
 skip_view_graph_calibration="1"
@@ -74,7 +75,6 @@ Thresholds_max_rotation_error=$(yq '.Thresholds.max_rotation_error // 10.0' $set
 echo "    glomap mapper ..."
 database="${exp_folder_colmap}/colmap_database.db"
 
-
 glomap mapper \
     --database_path "${database}" \
     --image_path "${rgb_path}" \
@@ -119,6 +119,21 @@ glomap mapper \
     --Thresholds.min_inlier_ratio "${Thresholds_min_inlier_ratio}" \
     --Thresholds.max_rotation_error "${Thresholds_max_rotation_error}"
 
+# 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

glomap_reconstruction.sh

@@ -9,7 +9,7 @@ sequence_path=""
 exp_folder=""
 exp_id=""
 calibration_yaml=""
-rgb_txt=""
+rgb_csv=""
 
 # Function to split key-value pairs and assign them to variables
 split_and_assign() {
@@ -35,7 +35,7 @@ echo "  Matcher Type      : $matcher_type"
 echo "  Use GPU           : $use_gpu"
 echo "  Settings YAML     : $settings_yaml"
 echo "  Calibration YAML  : $calibration_yaml"
-echo "  RGB TXT           : $rgb_txt"
+echo "  RGB CSV           : $rgb_csv"
 echo "============================================================"
 
 # Create folder to save colmap files
@@ -45,17 +45,18 @@ mkdir "$exp_folder_colmap"
 
 # Run COLMAP scripts for matching and mapping
 export QT_QPA_PLATFORM_PLUGIN_PATH="$CONDA_PREFIX/plugins/platforms"
-colmap_args="$sequence_path $exp_folder $exp_id $settings_yaml $calibration_yaml $rgb_txt"
+colmap_args="$sequence_path $exp_folder $exp_id $settings_yaml $calibration_yaml $rgb_csv"
 ./Baselines/colmap/colmap_matcher.sh $colmap_args $matcher_type $use_gpu
 ./Baselines/glomap/glomap_mapper.sh $colmap_args 
 
 # Convert COLMAP outputs to a format suitable for VSLAM-LAB
-python Baselines/colmap/colmap_to_vslamlab.py $sequence_path $exp_folder $exp_id $verbose $rgb_txt
+python Baselines/colmap/colmap_to_vslamlab.py $sequence_path $exp_folder $exp_id $verbose $rgb_csv
 
 # Visualization with colmap gui
 if [ "$verbose" -eq 1 ]; then
   exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
-  rgb_path="${sequence_path}/$(awk '{print $2}' "${rgb_txt}" | awk -F'/' 'NR==1 {print $1}')"
+  rgb_dir=$(awk -F, 'NR==2 { split($2,a,"/"); print a[1]; exit }' "$rgb_csv")
+  rgb_path="${sequence_path}/${rgb_dir}"
   database="${exp_folder_colmap}/colmap_database.db"
   colmap gui --import_path "${exp_folder_colmap}/0" --database_path ${database} --image_path ${rgb_path}
 fi