add scripts

colmap_mapper.sh

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+#!/bin/bash
+echo "Executing glomapMapper.sh ..."
+
+sequence_path="$1" 
+exp_folder="$2" 
+exp_id="$3" 
+verbose="$4"
+settings_yaml="$5"
+calibration_yaml="$6"
+rgb_txt="$7"
+
+
+exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
+rgb_path="${sequence_path}/$(awk '{print $2}' "${rgb_txt}" | awk -F'/' 'NR==1 {print $1}')"
+
+calibration_model=$(grep -oP '(?<=Camera\.model:\s)[\w]+' "$calibration_yaml")
+echo "        camera model : $calibration_model"
+optimize_intrinsics="0"
+skip_view_graph_calibration="1"
+if [ "${calibration_model}" == "UNKNOWN" ]
+then
+  optimize_intrinsics="1"
+  skip_view_graph_calibration="0"
+fi
+
+# Reading settings from yaml file
+BundleAdjustment_thres_loss_function=$(yq '.BundleAdjustment.thres_loss_function // 1.0' $settings_yaml)
+RelPoseEstimation_max_epipolar_error=$(yq '.RelPoseEstimation.max_epipolar_error // 1.0' $settings_yaml)
+GlobalPositioning_thres_loss_function=$(yq '.GlobalPositioning.thres_loss_function // 0.10000000000000001' $settings_yaml)
+
+Triangulation_complete_max_reproj_error=$(yq '.Triangulation.complete_max_reproj_error // 15.0' $settings_yaml)
+Triangulation_merge_max_reproj_error=$(yq '.Triangulation.merge_max_reproj_error // 15.0' $settings_yaml)
+Triangulation_min_angle=$(yq '.Triangulation.min_angle // 1.0' $settings_yaml)
+Triangulation_min_num_matches=$(yq '.Triangulation.min_num_matches // 15.0' $settings_yaml)
+
+Thresholds_max_epipolar_error_E=$(yq '.Thresholds.max_epipolar_error_E // 1.0' $settings_yaml)
+Thresholds_max_epipolar_error_F=$(yq '.Thresholds.max_epipolar_error_F // 4.0' $settings_yaml)
+Thresholds_max_epipolar_error_H=$(yq '.Thresholds.max_epipolar_error_H // 4.0' $settings_yaml)
+
+Thresholds_min_inlier_num=$(yq '.Thresholds.min_inlier_num // 30.0' $settings_yaml)
+Thresholds_min_inlier_ratio=$(yq '.Thresholds.min_inlier_ratio // 0.25' $settings_yaml)
+Thresholds_max_rotation_error=$(yq '.Thresholds.max_rotation_error // 10.0' $settings_yaml)
+
+Thresholds_max_angle_error=$(yq '.Thresholds.max_angle_error // 1.0' $settings_yaml)
+Thresholds_max_reprojection_error=$(yq '.Thresholds.max_reprojection_error // 0.01' $settings_yaml)
+Thresholds_min_triangulation_angle=$(yq '.Thresholds.min_triangulation_angle // 1.0' $settings_yaml)
+
+
+echo "    glomap mapper ..."
+database="${exp_folder_colmap}/colmap_database.db"
+
+glomap mapper \
+    --database_path ${database} \
+    --image_path ${rgb_path} \
+    --output_path ${exp_folder_colmap} \
+    --skip_view_graph_calibration "${skip_view_graph_calibration}" \
+    --RelPoseEstimation.max_epipolar_error "${RelPoseEstimation_max_epipolar_error}" \
+    --GlobalPositioning.thres_loss_function "${GlobalPositioning_thres_loss_function}" \
+    --BundleAdjustment.optimize_intrinsics "$optimize_intrinsics" #\
+    # --BundleAdjustment.thres_loss_function "${BundleAdjustment_thres_loss_function}" \
+    # --Thresholds.max_epipolar_error_E "${Thresholds_max_epipolar_error_E}" \
+    # --Thresholds.max_epipolar_error_F "${Thresholds_max_epipolar_error_F}" \
+    # --Thresholds.max_epipolar_error_H "${Thresholds_max_epipolar_error_H}" \
+    # --Thresholds.min_inlier_num "${Thresholds_min_inlier_num}" \
+    # --Thresholds.min_inlier_ratio "${Thresholds_min_inlier_ratio}" \
+    # --Thresholds.max_rotation_error "${Thresholds_max_rotation_error}" \
+    # --Thresholds.max_angle_error "${Thresholds_max_angle_error}" \
+    # --Thresholds.max_reprojection_error "${Thresholds_max_reprojection_error}" \
+    # --Thresholds.min_triangulation_angle "${Thresholds_min_triangulation_angle}" \
+    # --Triangulation.complete_max_reproj_error "${Triangulation_complete_max_reproj_error}" \
+    # --Triangulation.merge_max_reproj_error "${Triangulation_merge_max_reproj_error}" \
+    # --Triangulation.min_angle "${Triangulation_min_angle}" \
+    # --Triangulation.min_num_matches "${Triangulation_min_num_matches}"
+
+echo "    colmap model_converter ..."
+colmap model_converter \
+	--input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT
+
+

colmap_reconstruction.sh

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+#!/bin/bash
+
+# Function to split key-value pairs and assign them to variables
+matcher_type="exhaustive"
+use_gpu="1"
+verbose="0"
+settings_yaml=""
+
+split_and_assign() {
+  local input=$1
+  local key=$(echo $input | cut -d':' -f1)
+  local value=$(echo $input | cut -d':' -f2-)
+  eval $key=$value
+}
+
+# Split the input string into individual components
+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: $rgb_txt"
+
+exp_folder_colmap="${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 $rgb_txt
+
+# Get colmap stats
+colmap_stats_csv="${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}" >> "$colmap_stats_csv"
+
+if [ "$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 $1}')"
+  database="${exp_folder_colmap}/colmap_database.db"
+  colmap gui --import_path "${exp_folder_colmap}/0" --database_path ${database} --image_path ${rgb_path}
+fi
+
+
+# Remove colmap data
+rm -rf ${exp_folder_colmap}
+
+

vslamlab_colmap_settings.yaml

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+BundleAdjustment:
+  thres_loss_function: 1.0
+
+RelPoseEstimation:
+  max_epipolar_error: 1.0
+
+GlobalPositioning:
+  thres_loss_function: 0.10000000000000001
+
+Triangulation:
+  complete_max_reproj_error: 15.0
+  merge_max_reproj_error: 15.0  
+  min_angle: 1.0
+  min_num_matches: 15
+    
+Thresholds:
+  max_angle_error: 1.0
+  max_reprojection_error: 0.01
+  min_triangulation_angle: 1.0
+  min_inlier_num: 30.0
+  min_inlier_ratio: 0.25
+  max_rotation_error: 10.0
+  max_epipolar_error_E: 1.0
+  max_epipolar_error_F: 4.0
+  max_epipolar_error_H: 4.0
+
+feature_extractor:
+  SiftExtraction_num_octaves: 4
+  SiftExtraction_octave_resolution: 3
+  SiftExtraction_peak_threshold: 0.0066666666666666671
+  SiftExtraction_edge_threshold: 10.0
+  SiftExtraction_dsp_min_scale: 0.1666666666666666
+  SiftExtraction_dsp_max_scale: 3.0
+  SiftExtraction_dsp_num_scales: 10
+
+matcher:
+  SiftMatching_max_ratio: 0.80000000000000004
+  SiftMatching_max_distance: 0.69999999999999996
+  TwoViewGeometry_min_num_inliers: 15
+  TwoViewGeometry_max_error: 4.0
+  TwoViewGeometry_confidence: 0.999
+  TwoViewGeometry_min_inlier_ratio: 0.25
+  SequentialMatching_overlap: 10
+  SequentialMatching_quadratic_overlap: 1 
+  ExhaustiveMatching_block_size: 50