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#!/bin/bash |
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echo "Executing colmap_mapper.sh ..." |
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sequence_path="$1" |
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exp_folder="$2" |
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exp_id="$3" |
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settings_yaml="$4" |
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calibration_yaml="$5" |
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rgb_csv="$6" |
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camera_name="$7" |
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exp_folder_colmap="${exp_folder}/colmap_${exp_id}" |
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rgb_dir="${camera_name}" |
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rgb_path="${sequence_path}/${rgb_dir}" |
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read -r calibration_model more_ <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name") |
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echo " camera model : $calibration_model" |
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ba_refine_focal_length="0" |
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ba_refine_principal_point="0" |
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ba_refine_extra_params="0" |
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if [ "${calibration_model}" == "unknown" ] |
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then |
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ba_refine_focal_length="1" |
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ba_refine_principal_point="1" |
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ba_refine_extra_params="1" |
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fi |
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echo " colmap mapper ..." |
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database="${exp_folder_colmap}/colmap_database.db" |
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colmap mapper \ |
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--database_path ${database} \ |
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--image_path ${rgb_path} \ |
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--output_path ${exp_folder_colmap} \ |
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--Mapper.ba_refine_focal_length ${ba_refine_focal_length} \ |
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--Mapper.ba_refine_principal_point ${ba_refine_principal_point} \ |
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--Mapper.ba_refine_extra_params ${ba_refine_extra_params} |
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echo " colmap model_converter ..." |
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colmap model_converter \ |
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--input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT |
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