first auxiliary files

glomap_mapper.sh

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+#!/bin/bash
+echo "Executing glomapMapper.sh ..."
+
+sequence_path="$1" 
+exp_folder="$2" 
+exp_id="$3" 
+settings_yaml="$4"
+calibration_yaml="$5"
+rgb_csv="$6"
+camera_name="$7"
+
+exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
+rgb_dir="${camera_name}"
+rgb_path="${sequence_path}/${rgb_dir}"
+
+read -r calibration_model more_ <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
+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
+
+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 "${skip_view_graph_calibration}" \
+    --BundleAdjustment.optimize_intrinsics "${BundleAdjustment_optimize_intrinsics}"
+    
+
+# colmap image_undistorter \
+#   --image_path "${rgb_path}" \
+#   --input_path "${exp_folder_colmap}/0" \
+#   --output_path "${exp_folder_colmap}" \
+#   --output_type COLMAP \
+#   --max_image_size 2000
+
+# colmap patch_match_stereo \
+#   --workspace_path "${exp_folder_colmap}" \
+#   --workspace_format COLMAP \
+#   --PatchMatchStereo.cache_size 64 \
+#   --PatchMatchStereo.filter true \
+#   --PatchMatchStereo.window_step 2 \
+#   --PatchMatchStereo.geom_consistency true
+    
+echo "    colmap model_converter ..."
+colmap model_converter \
+	--input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT
+
+

glomap_reconstruction.sh

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+#!/bin/bash
+
+# Default values
+matcher_type="exhaustive"
+use_gpu="1"
+verbose="0"
+settings_yaml=""
+sequence_path=""
+exp_folder=""
+exp_id=""
+calibration_yaml=""
+rgb_csv=""
+camera_name="rgb_0"
+
+# Function to split key-value pairs and assign them to variables
+split_and_assign() {
+  local input=$1
+  local key=$(echo $input | cut -d':' -f1)
+  local value=$(echo $input | cut -d':' -f2-)
+  eval $key=$value
+}
+
+# Read Inputs
+for ((i=1; i<=$#; i++)); do
+    split_and_assign "${!i}"
+done
+
+exp_id=$(printf "%05d" ${exp_id})
+
+echo -e "\n================= Experiment Configuration ================="
+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 CSV           : $rgb_csv"
+echo "============================================================"
+
+# Create folder to save colmap files
+exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
+rm -rf "$exp_folder_colmap"
+mkdir "$exp_folder_colmap"
+
+# Run COLMAP scripts for matching and mapping
+export QT_QPA_PLATFORM_PLUGIN_PATH="$CONDA_PREFIX/plugins/platforms"
+colmap_args="$sequence_path $exp_folder $exp_id $settings_yaml $calibration_yaml $rgb_csv"
+./Baselines/colmap/colmap_matcher.sh $colmap_args $matcher_type $use_gpu $camera_name
+./Baselines/glomap/glomap_mapper.sh $colmap_args $camera_name  
+
+# Convert COLMAP outputs to a format suitable for VSLAM-LAB
+python Baselines/colmap/colmap_to_vslamlab.py $sequence_path $exp_folder $exp_id $verbose $rgb_csv $camera_name
+
+# Visualization with colmap gui
+if [ "$verbose" -eq 1 ]; then
+  exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
+  rgb_dir=$(awk -F, 'NR==2 { split($2,a,"/"); print a[1]; exit }' "$rgb_csv")
+  rgb_path="${sequence_path}/${rgb_dir}"
+  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_glomap_settings.yaml

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+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
+  
+ba:
+  iteration_num: 3
+
+retriangulation:
+  iteration_num: 1
+
+skip:
+  preprocessing: 0
+  view_graph_calibration: 0
+  relative_pose_estimation: 0
+  rotation_averaging: 0
+  global_positioning: 0
+  bundle_adjustment: 0
+  retriangulation_stage: 0
+  pruning: 0
+
+ViewGraphCalib:
+  thres_lower_ratio: 0.10000000000000001
+  thres_higher_ratio: 10.0
+  thres_two_view_error: 2.0
+
+RelPoseEstimation:
+  max_epipolar_error: 1.
+
+TrackEstablishment:
+  min_num_tracks_per_view: -1
+  min_num_view_per_track: 3
+  max_num_view_per_track: 100
+  max_num_tracks: 10000000
+
+GlobalPositioning:
+  optimize_positions: 1
+  optimize_points: 1
+  optimize_scales: 1
+  thres_loss_function: 0.10000000000000001
+  max_num_iterations: 100
+
+BundleAdjustment:
+  optimize_rotations: 1
+  optimize_translation: 1
+  optimize_intrinsics: 1
+  optimize_points: 1
+  thres_loss_function: 1.0
+  max_num_iterations: 200
+
+Triangulation:
+  complete_max_reproj_error: 15.0
+  merge_max_reproj_error: 15.0
+  min_angle: 1.0
+  min_num_matches: 15
+
+Thresholds:
+  max_epipolar_error_E: 1.0
+  max_epipolar_error_F: 4.0
+  max_epipolar_error_H: 4.0
+  min_inlier_num: 30.0
+  min_inlier_ratio: 0.25
+  max_rotation_error: 10.0