#!/bin/bash
# you need to use your own path

dataset_dir=/scratches/flyer_3/fx221/dataset/12Scenes
ref_sfm_dir=/scratches/flyer_2/fx221/publications/pram_data/3D-models/12Scenes
output_dir=/scratches/flyer_2/fx221/localization/outputs/12Scenes

feat=sfd2
matcher=gm

#feat=superpoint-n4096
#matcher=superglue

extract_feat_db=1
match_db=1
triangulation=1
localize=1

ransac_thresh=8
opt_thresh=8
covisibility_frame=20
inlier_thresh=30
obs_thresh=3


#for scene in apt1 apt2 office1 office2
for scene in apt2 office1 office2
do
  echo $scene

  if [ "$scene" = "apt1" ]; then
    all_subscenes='kitchen living'
  elif [ "$scene" = "apt2" ]; then
    all_subscenes='bed kitchen living luke'
  elif [ "$scene" = "office1" ]; then
    all_subscenes='gates362 gates381 lounge manolis'
  elif [ "$scene" = "office2" ]; then
    all_subscenes='5a 5b'
  fi

  for subscene in $all_subscenes
  do
    echo $subscene

    image_dir=$dataset_dir/$scene/$subscene
    ref_sfm=$ref_sfm_dir/$scene/$subscene/3D-models
    db_pair=$ref_sfm_dir/$scene/$subscene/pairs-db-covis20.txt
    outputs=$output_dir/$scene/$subscene
    query_pair=$ref_sfm_dir/$scene/$subscene/pairs-query-netvlad20.txt
    gt_pose_fn=$ref_sfm_dir/$scene/$subscene/queries_poses.txt
    query_fn=$ref_sfm_dir/$scene/$subscene/queries_with_intrinsics.txt

    if [ "$extract_feat_db" -gt "0" ]; then
      python3 -m loc.extract_features --image_dir $image_dir --export_dir $outputs/ --conf $feat
    fi

    if [ "$match_db" -gt "0" ]; then
      python3 -m loc.match_features --pairs $db_pair --export_dir $outputs/ --conf $matcher --features feats-$feat
    fi

    if [ "$triangulation" -gt "0" ]; then
      python3 -m loc.triangulation \
        --sfm_dir $outputs/sfm_$feat-$matcher \
        --reference_sfm_model $ref_sfm \
        --image_dir $image_dir \
        --pairs $db_pair \
        --features $outputs/feats-$feat.h5 \
        --matches $outputs/feats-$feat-$matcher-pairs-db-covis20.h5
    fi

    if [ "$localize" -gt "0" ]; then
      python3 -m loc.localizer \
        --dataset 12Scenes \
        --image_dir $image_dir \
        --save_root $outputs \
        --gt_pose_fn $gt_pose_fn \
        --retrieval $query_pair \
        --reference_sfm $outputs/sfm_$feat-$matcher \
        --queries $query_fn \
        --features $outputs/feats-$feat.h5 \
        --matcher_method $matcher \
        --ransac_thresh $ransac_thresh \
        --covisibility_frame $covisibility_frame \
        --obs_thresh $obs_thresh \
        --opt_thresh $opt_thresh \
        --inlier_thresh $inlier_thresh \
        --use_hloc
    fi
  done

done