add colmap

glomap_reconstruction.sh

@@ -1,11 +1,17 @@
 #!/bin/bash
 
-# Function to split key-value pairs and assign them to variables
+# Default values
 matcher_type="exhaustive"
 use_gpu="1"
 verbose="0"
 settings_yaml=""
+sequence_path=""
+exp_folder=""
+exp_id=""
+calibration_yaml=""
+rgb_txt=""
 
+# Function to split key-value pairs and assign them to variables
 split_and_assign() {
   local input=$1
   local key=$(echo $input | cut -d':' -f1)
@@ -13,52 +19,40 @@ split_and_assign() {
   eval $key=$value
 }
 
-# Split the input string into individual components
+# Read Inputs
 for ((i=1; i<=$#; i++)); do
     split_and_assign "${!i}"
 done
 
 exp_id=$(printf "%05d" ${exp_id})
 
-echo "Sequence Path: $sequence_path"
-echo "Experiment Folder: $exp_folder"
-echo "Experiment ID: $exp_id"
-echo "Verbose: $verbose"
-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 -e "\n================= Experiment Configuration ================="
+echo "  Sequence Path     : $sequence_path"
+echo "  Experiment Folder : $exp_folder"
+echo "  Experiment ID     : $exp_id"
+echo "  Verbose           : $verbose"
+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 "============================================================"
 
+# Create folder to save colmap files
 exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
 rm -rf "$exp_folder_colmap"
 mkdir "$exp_folder_colmap"
 
-export QT_QPA_PLATFORM_PLUGIN_PATH="$CONDA_PREFIX/plugins/platforms"
-
 # Run COLMAP scripts for matching and mapping
-./Baselines/glomap/colmap_matcher.sh $sequence_path $exp_folder $exp_id $matcher_type $use_gpu ${settings_yaml} ${calibration_yaml} ${rgb_txt}
-./Baselines/glomap/glomap_mapper.sh $sequence_path $exp_folder $exp_id ${verbose} ${settings_yaml} ${calibration_yaml} ${rgb_txt}
-
-# Convert COLMAP outputs to a format suitable for VSLAM-Lab
-python Baselines/glomap/colmap_to_vslamlab.py $sequence_path $exp_folder $exp_id $verbose $rgb_txt
+export QT_QPA_PLATFORM_PLUGIN_PATH="$CONDA_PREFIX/plugins/platforms"
+colmap_args="$sequence_path $exp_folder $exp_id $settings_yaml $calibration_yaml $rgb_txt"
+./Baselines/colmap/colmap_matcher.sh $colmap_args $matcher_type $use_gpu
+./Baselines/glomap/colmap_mapper.sh $colmap_args 
 
-# Get colmap stats
-colmap_stats_csv="${exp_folder}/${exp_id}_colmap_stats.csv"
-if [[ ! -f "$colmap_stats_csv" ]]; then
-  echo "File,Cameras,Images,Registered Images,Points,Observations,Mean Track Length,Mean Observations per Image,Mean Reprojection Error" > "$colmap_stats_csv"
-fi
-colmap_stats=$(pixi run -e colmap colmap model_analyzer --path "$exp_folder_colmap" 2>&1)
-cameras=$(echo "$colmap_stats" | grep -oP "(?<=Cameras: )\d+")
-images=$(echo "$colmap_stats" | grep -oP "(?<=Images: )\d+")
-registered_images=$(echo "$colmap_stats" | grep -oP "(?<=Registered images: )\d+")
-points=$(echo "$colmap_stats" | grep -oP "(?<=Points: )\d+")
-observations=$(echo "$colmap_stats" | grep -oP "(?<=Observations: )\d+")
-mean_track_length=$(echo "$colmap_stats" | grep -oP "(?<=Mean track length: )\d+\.\d+")
-mean_observations_per_image=$(echo "$colmap_stats" | grep -oP "(?<=Mean observations per image: )\d+\.\d+")
-mean_reprojection_error=$(echo "$colmap_stats" | grep -oP "(?<=Mean reprojection error: )\d+\.\d+")
-echo "$exp_folder_colmap,${cameras:-0},${images:-0},${registered_images:-0},${points:-0},${observations:-0},${mean_track_length:-0},${mean_observations_per_image:-0},${mean_reprojection_error:-0}" >> "$colmap_stats_csv"
+# 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
 
+# 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 $1}')"
@@ -66,8 +60,6 @@ if [ "$verbose" -eq 1 ]; then
   colmap gui --import_path "${exp_folder_colmap}/0" --database_path ${database} --image_path ${rgb_path}
 fi
 
-
-# Remove colmap data
-rm -rf ${exp_folder_colmap}
-
+# # Remove colmap data
+# rm -rf ${exp_folder_colmap}