vslamlab integration

glomap_mapper.sh

@@ -4,10 +4,9 @@ echo "Executing glomapMapper.sh ..."
 sequence_path="$1" 
 exp_folder="$2" 
 exp_id="$3" 
-verbose="$4"
-settings_yaml="$5"
-calibration_yaml="$6"
-rgb_txt="$7"
+settings_yaml="$4"
+calibration_yaml="$5"
+rgb_txt="$6"
 
 
 exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
@@ -24,53 +23,101 @@ then
 fi
 
 # Reading settings from yaml file
-BundleAdjustment_thres_loss_function=$(yq '.BundleAdjustment.thres_loss_function // 1.0' $settings_yaml)
+ba_iteration_num=$(yq '.ba.iteration_num // 3' $settings_yaml)
+retriangulation_iteration_num=$(yq '.retriangulation.iteration_num // 1' $settings_yaml)
+
+skip_preprocessing=$(yq '.skip.preprocessing // 0' $settings_yaml)
+skip_view_graph_calibration=$(yq '.skip.view_graph_calibration // 0' $settings_yaml)
+skip_relative_pose_estimation=$(yq '.skip.relative_pose_estimation // 0' $settings_yaml)
+skip_rotation_averaging=$(yq '.skip.rotation_averaging // 0' $settings_yaml)
+skip_global_positioning=$(yq '.skip.global_positioning // 0' $settings_yaml)
+skip_bundle_adjustment=$(yq '.skip.bundle_adjustment // 0' $settings_yaml)
+skip_retriangulation_stage=$(yq '.skip.retriangulation_stage // 0' $settings_yaml)
+skip_pruning=$(yq '.skip.pruning // 0' $settings_yaml)
+
+ViewGraphCalib_thres_lower_ratio=$(yq '.ViewGraphCalib.thres_lower_ratio // 0.1' $settings_yaml)
+ViewGraphCalib_thres_higher_ratio=$(yq '.ViewGraphCalib.thres_higher_ratio // 10.0' $settings_yaml)
+ViewGraphCalib_thres_two_view_error=$(yq '.ViewGraphCalib.thres_two_view_error // 2.0' $settings_yaml)
+
 RelPoseEstimation_max_epipolar_error=$(yq '.RelPoseEstimation.max_epipolar_error // 1.0' $settings_yaml)
-GlobalPositioning_thres_loss_function=$(yq '.GlobalPositioning.thres_loss_function // 0.10000000000000001' $settings_yaml)
+
+TrackEstablishment_min_num_tracks_per_view=$(yq '.TrackEstablishment.min_num_tracks_per_view // -1' $settings_yaml)
+TrackEstablishment_min_num_view_per_track=$(yq '.TrackEstablishment.min_num_view_per_track // 3' $settings_yaml)
+TrackEstablishment_max_num_view_per_track=$(yq '.TrackEstablishment.max_num_view_per_track // 100' $settings_yaml)
+TrackEstablishment_max_num_tracks=$(yq '.TrackEstablishment.max_num_tracks // 10000000' $settings_yaml)
+
+GlobalPositioning_optimize_positions=$(yq '.GlobalPositioning.optimize_positions // 1' $settings_yaml)
+GlobalPositioning_optimize_points=$(yq '.GlobalPositioning.optimize_points // 1' $settings_yaml)
+GlobalPositioning_optimize_scales=$(yq '.GlobalPositioning.optimize_scales // 1' $settings_yaml)
+GlobalPositioning_thres_loss_function=$(yq '.GlobalPositioning.thres_loss_function // 0.1' $settings_yaml)
+GlobalPositioning_max_num_iterations=$(yq '.GlobalPositioning.max_num_iterations // 100' $settings_yaml)
+
+BundleAdjustment_optimize_rotations=$(yq '.BundleAdjustment.optimize_rotations // 1' $settings_yaml)
+BundleAdjustment_optimize_translation=$(yq '.BundleAdjustment.optimize_translation // 1' $settings_yaml)
+BundleAdjustment_optimize_intrinsics=$(yq '.BundleAdjustment.optimize_intrinsics // 1' $settings_yaml)
+BundleAdjustment_optimize_points=$(yq '.BundleAdjustment.optimize_points // 1' $settings_yaml)
+BundleAdjustment_thres_loss_function=$(yq '.BundleAdjustment.thres_loss_function // 1.0' $settings_yaml)
+BundleAdjustment_max_num_iterations=$(yq '.BundleAdjustment.max_num_iterations // 200' $settings_yaml)
 
 Triangulation_complete_max_reproj_error=$(yq '.Triangulation.complete_max_reproj_error // 15.0' $settings_yaml)
 Triangulation_merge_max_reproj_error=$(yq '.Triangulation.merge_max_reproj_error // 15.0' $settings_yaml)
 Triangulation_min_angle=$(yq '.Triangulation.min_angle // 1.0' $settings_yaml)
-Triangulation_min_num_matches=$(yq '.Triangulation.min_num_matches // 15.0' $settings_yaml)
+Triangulation_min_num_matches=$(yq '.Triangulation.min_num_matches // 15' $settings_yaml)
 
 Thresholds_max_epipolar_error_E=$(yq '.Thresholds.max_epipolar_error_E // 1.0' $settings_yaml)
 Thresholds_max_epipolar_error_F=$(yq '.Thresholds.max_epipolar_error_F // 4.0' $settings_yaml)
 Thresholds_max_epipolar_error_H=$(yq '.Thresholds.max_epipolar_error_H // 4.0' $settings_yaml)
-
 Thresholds_min_inlier_num=$(yq '.Thresholds.min_inlier_num // 30.0' $settings_yaml)
 Thresholds_min_inlier_ratio=$(yq '.Thresholds.min_inlier_ratio // 0.25' $settings_yaml)
 Thresholds_max_rotation_error=$(yq '.Thresholds.max_rotation_error // 10.0' $settings_yaml)
 
-Thresholds_max_angle_error=$(yq '.Thresholds.max_angle_error // 1.0' $settings_yaml)
-Thresholds_max_reprojection_error=$(yq '.Thresholds.max_reprojection_error // 0.01' $settings_yaml)
-Thresholds_min_triangulation_angle=$(yq '.Thresholds.min_triangulation_angle // 1.0' $settings_yaml)
-
-
 echo "    glomap mapper ..."
 database="${exp_folder_colmap}/colmap_database.db"
 
+
 glomap mapper \
-    --database_path ${database} \
-    --image_path ${rgb_path} \
-    --output_path ${exp_folder_colmap} \
+    --database_path "${database}" \
+    --image_path "${rgb_path}" \
+    --output_path "${exp_folder_colmap}" \
+    --ba_iteration_num "${ba_iteration_num}" \
+    --retriangulation_iteration_num "${retriangulation_iteration_num}" \
+    --skip_preprocessing "${skip_preprocessing}" \
     --skip_view_graph_calibration "${skip_view_graph_calibration}" \
+    --skip_relative_pose_estimation "${skip_relative_pose_estimation}" \
+    --skip_rotation_averaging "${skip_rotation_averaging}" \
+    --skip_global_positioning "${skip_global_positioning}" \
+    --skip_bundle_adjustment "${skip_bundle_adjustment}" \
+    --skip_retriangulation "${skip_retriangulation_stage}" \
+    --skip_pruning "${skip_pruning}" \
+    --ViewGraphCalib.thres_lower_ratio "${ViewGraphCalib_thres_lower_ratio}" \
+    --ViewGraphCalib.thres_higher_ratio "${ViewGraphCalib_thres_higher_ratio}" \
+    --ViewGraphCalib.thres_two_view_error "${ViewGraphCalib_thres_two_view_error}" \
     --RelPoseEstimation.max_epipolar_error "${RelPoseEstimation_max_epipolar_error}" \
+    --TrackEstablishment.min_num_tracks_per_view "${TrackEstablishment_min_num_tracks_per_view}" \
+    --TrackEstablishment.min_num_view_per_track "${TrackEstablishment_min_num_view_per_track}" \
+    --TrackEstablishment.max_num_view_per_track "${TrackEstablishment_max_num_view_per_track}" \
+    --TrackEstablishment.max_num_tracks "${TrackEstablishment_max_num_tracks}" \
+    --GlobalPositioning.optimize_positions "${GlobalPositioning_optimize_positions}" \
+    --GlobalPositioning.optimize_points "${GlobalPositioning_optimize_points}" \
+    --GlobalPositioning.optimize_scales "${GlobalPositioning_optimize_scales}" \
     --GlobalPositioning.thres_loss_function "${GlobalPositioning_thres_loss_function}" \
-    --BundleAdjustment.optimize_intrinsics "$optimize_intrinsics" #\
-    # --BundleAdjustment.thres_loss_function "${BundleAdjustment_thres_loss_function}" \
-    # --Thresholds.max_epipolar_error_E "${Thresholds_max_epipolar_error_E}" \
-    # --Thresholds.max_epipolar_error_F "${Thresholds_max_epipolar_error_F}" \
-    # --Thresholds.max_epipolar_error_H "${Thresholds_max_epipolar_error_H}" \
-    # --Thresholds.min_inlier_num "${Thresholds_min_inlier_num}" \
-    # --Thresholds.min_inlier_ratio "${Thresholds_min_inlier_ratio}" \
-    # --Thresholds.max_rotation_error "${Thresholds_max_rotation_error}" \
-    # --Thresholds.max_angle_error "${Thresholds_max_angle_error}" \
-    # --Thresholds.max_reprojection_error "${Thresholds_max_reprojection_error}" \
-    # --Thresholds.min_triangulation_angle "${Thresholds_min_triangulation_angle}" \
-    # --Triangulation.complete_max_reproj_error "${Triangulation_complete_max_reproj_error}" \
-    # --Triangulation.merge_max_reproj_error "${Triangulation_merge_max_reproj_error}" \
-    # --Triangulation.min_angle "${Triangulation_min_angle}" \
-    # --Triangulation.min_num_matches "${Triangulation_min_num_matches}"
+    --GlobalPositioning.max_num_iterations "${GlobalPositioning_max_num_iterations}" \
+    --BundleAdjustment.optimize_rotations "${BundleAdjustment_optimize_rotations}" \
+    --BundleAdjustment.optimize_translation "${BundleAdjustment_optimize_translation}" \
+    --BundleAdjustment.optimize_intrinsics "${BundleAdjustment_optimize_intrinsics}" \
+    --BundleAdjustment.optimize_points "${BundleAdjustment_optimize_points}" \
+    --BundleAdjustment.thres_loss_function "${BundleAdjustment_thres_loss_function}" \
+    --BundleAdjustment.max_num_iterations "${BundleAdjustment_max_num_iterations}" \
+    --Triangulation.complete_max_reproj_error "${Triangulation_complete_max_reproj_error}" \
+    --Triangulation.merge_max_reproj_error "${Triangulation_merge_max_reproj_error}" \
+    --Triangulation.min_angle "${Triangulation_min_angle}" \
+    --Triangulation.min_num_matches "${Triangulation_min_num_matches}" \
+    --Thresholds.max_epipolar_error_E "${Thresholds_max_epipolar_error_E}" \
+    --Thresholds.max_epipolar_error_F "${Thresholds_max_epipolar_error_F}" \
+    --Thresholds.max_epipolar_error_H "${Thresholds_max_epipolar_error_H}" \
+    --Thresholds.min_inlier_num "${Thresholds_min_inlier_num}" \
+    --Thresholds.min_inlier_ratio "${Thresholds_min_inlier_ratio}" \
+    --Thresholds.max_rotation_error "${Thresholds_max_rotation_error}"
 
 echo "    colmap model_converter ..."
 colmap model_converter \

vslamlab_glomap_settings.yaml

@@ -1,29 +1,3 @@
-BundleAdjustment:
-  thres_loss_function: 1.0
-
-RelPoseEstimation:
-  max_epipolar_error: 1.0
-
-GlobalPositioning:
-  thres_loss_function: 0.10000000000000001
-
-Triangulation:
-  complete_max_reproj_error: 15.0
-  merge_max_reproj_error: 15.0  
-  min_angle: 1.0
-  min_num_matches: 15
-    
-Thresholds:
-  max_angle_error: 1.0
-  max_reprojection_error: 0.01
-  min_triangulation_angle: 1.0
-  min_inlier_num: 30.0
-  min_inlier_ratio: 0.25
-  max_rotation_error: 10.0
-  max_epipolar_error_E: 1.0
-  max_epipolar_error_F: 4.0
-  max_epipolar_error_H: 4.0
-
 feature_extractor:
   SiftExtraction_num_octaves: 4
   SiftExtraction_octave_resolution: 3
@@ -43,3 +17,62 @@ matcher:
   SequentialMatching_overlap: 10
   SequentialMatching_quadratic_overlap: 1 
   ExhaustiveMatching_block_size: 50
+  
+ba:
+  iteration_num: 3
+
+retriangulation:
+  iteration_num: 1
+
+skip:
+  preprocessing: 0
+  view_graph_calibration: 0
+  relative_pose_estimation: 0
+  rotation_averaging: 0
+  global_positioning: 0
+  bundle_adjustment: 0
+  retriangulation_stage: 0
+  pruning: 0
+
+ViewGraphCalib:
+  thres_lower_ratio: 0.10000000000000001
+  thres_higher_ratio: 10.0
+  thres_two_view_error: 2.0
+
+RelPoseEstimation:
+  max_epipolar_error: 1.
+
+TrackEstablishment:
+  min_num_tracks_per_view: -1
+  min_num_view_per_track: 3
+  max_num_view_per_track: 100
+  max_num_tracks: 10000000
+
+GlobalPositioning:
+  optimize_positions: 1
+  optimize_points: 1
+  optimize_scales: 1
+  thres_loss_function: 0.10000000000000001
+  max_num_iterations: 100
+
+BundleAdjustment:
+  optimize_rotations: 1
+  optimize_translation: 1
+  optimize_intrinsics: 1
+  optimize_points: 1
+  thres_loss_function: 1.0
+  max_num_iterations: 200
+
+Triangulation:
+  complete_max_reproj_error: 15.0
+  merge_max_reproj_error: 15.0
+  min_angle: 1.0
+  min_num_matches: 15
+
+Thresholds:
+  max_epipolar_error_E: 1.0
+  max_epipolar_error_F: 4.0
+  max_epipolar_error_H: 4.0
+  min_inlier_num: 30.0
+  min_inlier_ratio: 0.25
+  max_rotation_error: 10.0