run_global_sfm.sh.in

DATASET_PATH=$1
OUTPUT_PATH=$2
VOC_TREE_PATH=$3
MOST_SIMILAR_IMAGES_NUM=$4

ROTATION_ESTIMATOR_TYPE="ROBUST_L1L2"
POSITION_ESTIMATOR_TYPE="LUD"
OPTIMIZE_RELATIVE_TRANSLATIONS="true"
FILTER_GLOBAL_TRANSLATIONS="true"
FINAL_GLOBAL_BUNDLE="true"
RUN_INCREMENTAL="false"

if [ $# -ge 5 ]; then ROTATION_ESTIMATOR_TYPE=$5; fi

if [ $# -ge 6 ]; then POSITION_ESTIMATOR_TYPE=$6; fi

if [ $# -ge 7 ]; then OPTIMIZE_RELATIVE_TRANSLATIONS=$7; fi

if [ $# -ge 8 ]; then FILTER_GLOBAL_TRANSLATIONS=$8; fi

if [ $# -ge 9 ]; then FINAL_GLOBAL_BUNDLE=$9; fi

if [ $# -ge 10 ]; then RUN_INCREMENTAL=$10; fi

echo "\nRunning Config:"
echo "\t-Rotation Estimator: $ROTATION_ESTIMATOR_TYPE"
echo "\t-Position Estimator: $POSITION_ESTIMATOR_TYPE"
echo "\t-Optimize Relative Translations: $OPTIMIZE_RELATIVE_TRANSLATIONS"
echo "\t-Filter Global Translations: $FILTER_GLOBAL_TRANSLATIONS"
echo "\t-Final Global Bundle: $FINAL_GLOBAL_BUNDLE"
echo "\t-Run Incremental Mapper: $RUN_INCREMENTAL"

mkdir -p $OUTPUT_PATH

colmap feature_extractor \
  --database_path=$OUTPUT_PATH/database.db \
  --image_path=$DATASET_PATH/images \
  --SiftExtraction.num_threads=8 \
  --SiftExtraction.use_gpu=1 \
  --SiftExtraction.gpu_index=0

colmap vocab_tree_matcher \
  --database_path=$OUTPUT_PATH/database.db \
  --SiftMatching.num_threads=8 \
  --SiftMatching.use_gpu=1 \
  --SiftMatching.gpu_index=0 \
  --VocabTreeMatching.num_images=$MOST_SIMILAR_IMAGES_NUM \
  --VocabTreeMatching.num_nearest_neighbors=5 \
  --VocabTreeMatching.vocab_tree_path=$VOC_TREE_PATH

${CMAKE_SOURCE_DIR}/../bin/run_global_mapper \
  --database_path=$OUTPUT_PATH/database.db \
  --image_path=$DATASET_PATH/images \
  --output_path=$OUTPUT_PATH \
  --rotation_estimator_type=$ROTATION_ESTIMATOR_TYPE \
  --position_estimator_type=$POSITION_ESTIMATOR_TYPE \
  --optimize_relative_translations=$OPTIMIZE_RELATIVE_TRANSLATIONS \
  --filter_relative_translations=$FILTER_GLOBAL_TRANSLATIONS \
  --final_global_bundle=$FINAL_GLOBAL_BUNDLE \
  --run_incremental=$RUN_INCREMENTAL