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| # 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 | |