Update COLMAP integration for 4.1.0: add GLOMAP mapper and matching type options

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
-
-
+	--input_path ${exp_folder_colmap}/0 --output_path ${exp_folder_colmap} --output_type TXT

colmap_matcher.sh

@@ -3,19 +3,47 @@ echo ""
 echo "Executing colmap_matcher.sh ..."
 
 sequence_path="$1"
-exp_folder="$2"
-exp_id="$3"
+exp_folder="$2" 
+exp_id="$3" 
 settings_yaml="$4"
 calibration_yaml="$5"
 rgb_csv="$6"
 matcher_type="$7"
 use_gpu="$8"
 camera_name="$9"
+matching_type="${10}"
 
 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}"
 
+# matching_type: FeatureExtraction.type + FeatureMatching.type
+feature_matching_type=""
+feature_extraction_type="SIFT"
+
+case "${matching_type}" in
+    sift_bruteforce)
+        feature_extraction_type="SIFT"
+        feature_matching_type="SIFT_BRUTEFORCE"
+        ;;
+    sift_lightglue)
+        feature_extraction_type="SIFT"
+        feature_matching_type="SIFT_LIGHTGLUE"
+        ;;
+    aliked_bruteforce)
+        feature_extraction_type="ALIKED_N16ROT"
+        feature_matching_type="ALIKED_BRUTEFORCE"
+        ;;
+    aliked_lightglue)
+        feature_extraction_type="ALIKED_N16ROT"
+        feature_matching_type="ALIKED_LIGHTGLUE"
+        ;;
+    *)
+        echo "Unknown matching_type: ${matching_type}"
+        exit 1
+        ;;
+esac
+
 # Get calibration model
 read -r calibration_model more_ <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
 
@@ -26,98 +54,104 @@ python3 Baselines/colmap/create_colmap_image_list.py "$rgb_csv" "$colmap_image_l
 # Create Colmap Database
 database="${exp_folder_colmap}/colmap_database.db"
 rm -rf ${database}
-colmap database_creator --database_path ${database}
+colmap database_creator --database_path ${database} 
 
 # Feature extractor
-echo "    colmap feature_extractor ..."
+echo "    colmap feature_extractor (${feature_extraction_type}) ..."
 
 if [ "${calibration_model}" == "unknown" ]
 then
-echo "        camera model : $calibration_model"
-colmap feature_extractor \
-   --database_path ${database} \
-   --image_path ${rgb_path} \
-   --image_list_path ${colmap_image_list} \
-   --ImageReader.camera_model SIMPLE_PINHOLE \
-   --ImageReader.single_camera 1 \
-   --ImageReader.single_camera_per_folder 1 \
-   --FeatureExtraction.use_gpu ${use_gpu}
+    echo "        camera model : $calibration_model"
+    colmap feature_extractor \
+       --database_path ${database} \
+       --image_path ${rgb_path} \
+       --image_list_path ${colmap_image_list} \
+       --ImageReader.camera_model OPENCV \
+       --ImageReader.single_camera 1 \
+       --ImageReader.single_camera_per_folder 1 \
+       --FeatureExtraction.type ${feature_extraction_type} \
+       --FeatureExtraction.use_gpu ${use_gpu}
 fi
 
 if [ "${calibration_model}" == "pinhole" ]
 then
-  read -r calibration_model fx fy cx cy <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
-  echo "        camera model : $calibration_model"
-  echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
-  colmap feature_extractor \
-	--database_path ${database} \
-	--image_path ${rgb_path} \
-	--image_list_path ${colmap_image_list} \
-	--ImageReader.camera_model PINHOLE \
-	--ImageReader.single_camera 1 \
-	--ImageReader.single_camera_per_folder 1 \
-	--FeatureExtraction.use_gpu ${use_gpu} \
-	--ImageReader.camera_params "${fx},${fy},${cx},${cy}"
+    read -r calibration_model fx fy cx cy <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
+    echo "        camera model : $calibration_model"
+    echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
+    colmap feature_extractor \
+        --database_path ${database} \
+        --image_path ${rgb_path} \
+        --image_list_path ${colmap_image_list} \
+        --ImageReader.camera_model PINHOLE \
+        --ImageReader.single_camera 1 \
+        --ImageReader.single_camera_per_folder 1 \
+        --FeatureExtraction.type ${feature_extraction_type} \
+        --FeatureExtraction.use_gpu ${use_gpu} \
+        --ImageReader.camera_params "${fx},${fy},${cx},${cy}"
 fi
 
 if [ "${calibration_model}" == "radtan4" ]
 then
-  read -r calibration_model fx fy cx cy k1 k2 p1 p2 <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
-  echo "        camera model : $calibration_model"
-  echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
-  echo "            k1: $k1 , k2: $k2 , p1: $p1 , p2: $p2"
-  colmap feature_extractor \
-	--database_path ${database} \
-	--image_path ${rgb_path} \
-	--image_list_path ${colmap_image_list} \
-	--ImageReader.camera_model "OPENCV" \
-	--ImageReader.single_camera 1 \
-  --ImageReader.single_camera_per_folder 0 \
-	--FeatureExtraction.use_gpu ${use_gpu} \
-  --ImageReader.camera_params "${fx},${fy},${cx},${cy},${k1},${k2},${p1},${p2}"
+    read -r calibration_model fx fy cx cy k1 k2 p1 p2 <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
+    echo "        camera model : $calibration_model"
+    echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
+    echo "            k1: $k1 , k2: $k2 , p1: $p1 , p2: $p2"
+    colmap feature_extractor \
+        --database_path ${database} \
+        --image_path ${rgb_path} \
+        --image_list_path ${colmap_image_list} \
+        --ImageReader.camera_model "OPENCV" \
+        --ImageReader.single_camera 1 \
+        --ImageReader.single_camera_per_folder 1 \
+        --FeatureExtraction.type ${feature_extraction_type} \
+        --FeatureExtraction.use_gpu ${use_gpu} \
+        --ImageReader.camera_params "${fx},${fy},${cx},${cy},${k1},${k2},${p1},${p2}"
 fi
 
 if [ "${calibration_model}" == "radtan5" ]
 then
-  read -r calibration_model fx fy cx cy k1 k2 p1 p2 k3 <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
-  echo "        camera model : $calibration_model"
-  echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
-  echo "            k1: $k1 , k2: $k2 , p1: $p1 , p2: $p2, k3: $k3"
-  colmap feature_extractor \
-	--database_path ${database} \
-	--image_path ${rgb_path} \
-	--image_list_path ${colmap_image_list} \
-	--ImageReader.camera_model "FULL_OPENCV" \
-	--ImageReader.single_camera 1 \
-  --ImageReader.single_camera_per_folder 1 \
-	--FeatureExtraction.use_gpu ${use_gpu} \
-  --ImageReader.camera_params "${fx},${fy},${cx},${cy},${k1},${k2},${p1},${p2},${k3},0,0,0"
+    read -r calibration_model fx fy cx cy k1 k2 p1 p2 k3 <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
+    echo "        camera model : $calibration_model"
+    echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
+    echo "            k1: $k1 , k2: $k2 , p1: $p1 , p2: $p2, k3: $k3"
+    colmap feature_extractor \
+        --database_path ${database} \
+        --image_path ${rgb_path} \
+        --image_list_path ${colmap_image_list} \
+        --ImageReader.camera_model "FULL_OPENCV" \
+        --ImageReader.single_camera 1 \
+        --ImageReader.single_camera_per_folder 1 \
+        --FeatureExtraction.type ${feature_extraction_type} \
+        --FeatureExtraction.use_gpu ${use_gpu} \
+        --ImageReader.camera_params "${fx},${fy},${cx},${cy},${k1},${k2},${p1},${p2},${k3},0,0,0"
 fi
 
 if [ "${calibration_model}" == "equid4" ]
 then
-  read -r calibration_model fx fy cx cy k1 k2 k3 k4 <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
-  echo "        camera model : $calibration_model"
-  echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
-  echo "            k1: $k1 , k2: $k2 , k3: $k3 , k4: $k4"
-	colmap feature_extractor \
-	--database_path ${database} \
-	--image_path ${rgb_path} \
-	--image_list_path ${colmap_image_list} \
-	--ImageReader.camera_model "OPENCV_FISHEYE"\
-	--ImageReader.single_camera 1 \
-	--ImageReader.single_camera_per_folder 1 \
-	--FeatureExtraction.use_gpu ${use_gpu} \
-	--ImageReader.camera_params "${fx},${fy},${cx},${cy},${k1},${k2},${k3},${k4}"
+    read -r calibration_model fx fy cx cy k1 k2 k3 k4 <<< $(python3 Baselines/colmap/get_calibration.py "$calibration_yaml" "$camera_name")
+    echo "        camera model : $calibration_model"
+    echo "            fx: $fx , fy: $fy , cx: $cx , cy: $cy"
+    echo "            k1: $k1 , k2: $k2 , k3: $k3 , k4: $k4"
+    colmap feature_extractor \
+        --database_path ${database} \
+        --image_path ${rgb_path} \
+        --image_list_path ${colmap_image_list} \
+        --ImageReader.camera_model "OPENCV_FISHEYE" \
+        --ImageReader.single_camera 1 \
+        --ImageReader.single_camera_per_folder 1 \
+        --FeatureExtraction.type ${feature_extraction_type} \
+        --FeatureExtraction.use_gpu ${use_gpu} \
+        --ImageReader.camera_params "${fx},${fy},${cx},${cy},${k1},${k2},${k3},${k4}"
 fi
 
 # Exhaustive Feature Matcher
-if [ "${matcher_type}" == "exhaustive" ]
+if [ "${matcher_type}" == "exhaustive" ]; 
 then
-	echo "    colmap exhaustive_matcher ..."
+  echo "    colmap exhaustive_matcher (${feature_matching_type}) ..."
   colmap exhaustive_matcher \
-     --database_path ${database} \
-     --FeatureMatching.use_gpu ${use_gpu}
+    --database_path "${database}" \
+    --FeatureMatching.type "${feature_matching_type}" \
+    --FeatureMatching.use_gpu "${use_gpu}"
 fi
 
 # Sequential Feature Matcher
@@ -126,30 +160,20 @@ then
   num_rgb=$(( $(wc -l < "$rgb_csv") - 1 ))
 
   # Pick vocabulary tree based on the number of images
-  vocabulary_tree="Baselines/colmap/vocab_tree_faiss_flickr100K_words32K.bin"
+  vocabulary_tree="Baselines/colmap/vocab_tree_flickr100K_words32K.bin"
   if [ "$num_rgb" -gt 1000 ]; then
-    vocabulary_tree="Baselines/colmap/vocab_tree_faiss_flickr100K_words256K.bin"
+    vocabulary_tree="Baselines/colmap/vocab_tree_flickr100K_words256K.bin"
   fi
   if [ "$num_rgb" -gt 10000 ]; then
-    vocabulary_tree="Baselines/colmap/vocab_tree_faiss_flickr100K_words1M.bin"
+    vocabulary_tree="Baselines/colmap/vocab_tree_flickr100K_words1M.bin"
   fi
 
-  echo "    colmap sequential_matcher ..."
+  echo "    colmap sequential_matcher (${feature_matching_type}) ..."
   echo "        Vocabulary Tree: $vocabulary_tree"
   colmap sequential_matcher \
     --database_path "${database}" \
     --SequentialMatching.loop_detection 1 \
     --SequentialMatching.vocab_tree_path ${vocabulary_tree} \
+    --FeatureMatching.type "${feature_matching_type}" \
     --FeatureMatching.use_gpu "${use_gpu}"
-fi
-
-# LightGlue Feature Matcher
-if [ "${matcher_type}" == "custom" ]
-then
-  colmap exhaustive_matcher \
-      --database_path ${database} \
-      --FeatureMatching.use_gpu ${use_gpu}
-
-  pixi run -e lightglue python3 Baselines/colmap/feature_matcher.py --database ${database} --rgb_path ${rgb_path} --rgb_csv ${rgb_csv}
-fi
-
+fi

colmap_reconstruction.sh

@@ -2,6 +2,8 @@
 
 # Default values
 matcher_type="exhaustive"
+matching_type="sift_bruteforce"
+mapper_type="colmap"
 use_gpu="1"
 verbose="0"
 settings_yaml=""
@@ -33,6 +35,8 @@ echo "  Experiment Folder : $exp_folder"
 echo "  Experiment ID     : $exp_id"
 echo "  Verbose           : $verbose"
 echo "  Matcher Type      : $matcher_type"
+echo "  Matching Type     : $matching_type"
+echo "  Mapper Type       : $mapper_type"
 echo "  Use GPU           : $use_gpu"
 echo "  Settings YAML     : $settings_yaml"
 echo "  Calibration YAML  : $calibration_yaml"
@@ -48,8 +52,8 @@ mkdir "$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/colmap/colmap_mapper.sh $colmap_args $camera_name
+./Baselines/colmap/colmap_matcher.sh $colmap_args $matcher_type $use_gpu $camera_name $matching_type
+./Baselines/colmap/colmap_mapper.sh $colmap_args $camera_name $mapper_type
 
 # 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 $camera_name
@@ -64,6 +68,4 @@ if [ "$verbose" -eq 1 ]; then
 fi
 
 # # Remove colmap data
-# rm -rf ${exp_folder_colmap}
-
-
+# rm -rf ${exp_folder_colmap}