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#!/bin/bash
echo "Executing colmap_mapper.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 : $calibration_model"
ba_refine_focal_length="0"
ba_refine_principal_point="0"
ba_refine_extra_params="0"
if [ "${calibration_model}" == "unknown" ]
then
ba_refine_focal_length="1"
ba_refine_principal_point="1"
ba_refine_extra_params="1"
fi
echo " colmap mapper ..."
database="${exp_folder_colmap}/colmap_database.db"
colmap mapper \
--database_path ${database} \
--image_path ${rgb_path} \
--output_path ${exp_folder_colmap} \
--Mapper.ba_refine_focal_length ${ba_refine_focal_length} \
--Mapper.ba_refine_principal_point ${ba_refine_principal_point} \
--Mapper.ba_refine_extra_params ${ba_refine_extra_params}
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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