Update COLMAP integration for 4.1.0: add GLOMAP mapper

colmap_mapper.sh

@@ -8,6 +8,7 @@ settings_yaml="$4"
 calibration_yaml="$5"
 rgb_csv="$6"
 camera_name="$7"
+mapper_type="$8"
 
 exp_folder_colmap="${exp_folder}/colmap_${exp_id}"
 rgb_dir="${camera_name}"
@@ -25,19 +26,29 @@ then
   ba_refine_extra_params="1"
 fi
 
-echo "    colmap mapper ..."
 database="${exp_folder_colmap}/colmap_database.db"
 
-colmap mapper \
-    --database_path ${database} \
-    --image_path ${rgb_path} \
-    --output_path ${exp_folder_colmap} \
-    --Mapper.ba_refine_focal_length ${ba_refine_focal_length} \
-    --Mapper.ba_refine_principal_point ${ba_refine_principal_point} \
-    --Mapper.ba_refine_extra_params ${ba_refine_extra_params}
+if [ "${mapper_type}" == "glomap" ]
+then
+    echo "    global mapper (GLOMAP) ..."
+    colmap global_mapper \
+        --database_path ${database} \
+        --image_path ${rgb_path} \
+        --output_path ${exp_folder_colmap} \
+        --GlobalMapper.ba_refine_focal_length ${ba_refine_focal_length} \
+        --GlobalMapper.ba_refine_principal_point ${ba_refine_principal_point} \
+        --GlobalMapper.ba_refine_extra_params ${ba_refine_extra_params}
+else
+    echo "    colmap mapper (COLMAP) ..."
+    colmap mapper \
+        --database_path ${database} \
+        --image_path ${rgb_path} \
+        --output_path ${exp_folder_colmap} \
+        --Mapper.ba_refine_focal_length ${ba_refine_focal_length} \
+        --Mapper.ba_refine_principal_point ${ba_refine_principal_point} \
+        --Mapper.ba_refine_extra_params ${ba_refine_extra_params}
+fi
 
 echo "    colmap model_converter ..."
 colmap model_converter \
 	--input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT
-
-