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#!/bin/bash
# Set to 0 if you do not have a GPU.
USE_GPU=0
# Path to a directory `base/` with images in `base/images/`.
DATASET_PATH=$1
# Recommended CAMERA values: OPENCV for perspective, OPENCV_FISHEYE for fisheye.
CAMERA=${2:-OPENCV}
# Run COLMAP.
### Feature extraction
colmap feature_extractor \
--database_path "$DATASET_PATH"/database.db \
--image_path "$DATASET_PATH"/images \
--ImageReader.single_camera 1 \
--ImageReader.camera_model "$CAMERA" \
--SiftExtraction.use_gpu "$USE_GPU"
### Feature matching
colmap exhaustive_matcher \
--database_path "$DATASET_PATH"/database.db \
--SiftMatching.use_gpu "$USE_GPU"
## Use if your scene has > 500 images
## Replace this path with your own local copy of the file.
## Download from: https://demuc.de/colmap/#download
# VOCABTREE_PATH=/usr/local/google/home/bmild/vocab_tree_flickr100K_words32K.bin
# colmap vocab_tree_matcher \
# --database_path "$DATASET_PATH"/database.db \
# --VocabTreeMatching.vocab_tree_path $VOCABTREE_PATH \
# --SiftMatching.use_gpu "$USE_GPU"
### Bundle adjustment
# The default Mapper tolerance is unnecessarily large,
# decreasing it speeds up bundle adjustment steps.
mkdir -p "$DATASET_PATH"/sparse
colmap mapper \
--database_path "$DATASET_PATH"/database.db \
--image_path "$DATASET_PATH"/images \
--output_path "$DATASET_PATH"/sparse \
--Mapper.ba_global_function_tolerance=0.000001
### Image undistortion
## Use this if you want to undistort your images into ideal pinhole intrinsics.
# mkdir -p "$DATASET_PATH"/dense
# colmap image_undistorter \
# --image_path "$DATASET_PATH"/images \
# --input_path "$DATASET_PATH"/sparse/0 \
# --output_path "$DATASET_PATH"/dense \
# --output_type COLMAP
# Resize images.
cp -r "$DATASET_PATH"/images "$DATASET_PATH"/images_2
pushd "$DATASET_PATH"/images_2
ls | xargs -P 8 -I {} mogrify -resize 50% {}
popd
cp -r "$DATASET_PATH"/images "$DATASET_PATH"/images_4
pushd "$DATASET_PATH"/images_4
ls | xargs -P 8 -I {} mogrify -resize 25% {}
popd
cp -r "$DATASET_PATH"/images "$DATASET_PATH"/images_8
pushd "$DATASET_PATH"/images_8
ls | xargs -P 8 -I {} mogrify -resize 12.5% {}
popd |