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#!/bin/bash
# you need to use your own path
dataset_dir=/scratches/flyer_3/fx221/dataset/Aachen/Aachenv11
ref_sfm_dir=/scratches/flyer_2/fx221/publications/pram_data/3D-models/Aachen/Aachenv11
output_dir=/scratches/flyer_2/fx221/localization/outputs/Aachen/Aachenv11
# fixed
output=$output_dir
ref_sfm=$ref_sfm_dir/3D-models
db_pair=$ref_sfm_dir/pairs-db-covis20.txt
query_pair=$ref_sfm_dir/pairs-query-netvlad50.txt
gt_pose_fn=$ref_sfm_dir/queries_pose_spp_spg.txt
query_fn=$ref_sfm_dir/queries_with_intrinsics.txt
feat=sfd2
matcher=gm
#feat=superpoint-n4096
#matcher=superglue
extract_feat_db=1
match_db=1
triangulation=1
localize=1
if [ "$extract_feat_db" -gt "0" ]; then
python3 -m loc.extract_features --image_dir $dataset/images/images_upright --export_dir $outputs/ --conf $feat
fi
if [ "$match_db" -gt "0" ]; then
python3 -m loc.match_features --pairs $ref_sfm_dir/pairs-db-covis20.txt --export_dir $outputs/ --conf $matcher --features feats-$feat
fi
if [ "$triangulation" -gt "0" ]; then
python3 -m loc.triangulation \
--sfm_dir $outputs/sfm_$feat-$matcher \
--reference_sfm_model $ref_sfm \
--image_dir $dataset/images/images_upright \
--pairs $db_pair \
--features $outputs/feats-$feat.h5 \
--matches $outputs/feats-$feat-$matcher-pairs-db-covis20.h5
fi
ransac_thresh=15
opt_thresh=15
covisibility_frame=30
inlier_thresh=80
obs_thresh=3
if [ "$localize" -gt "0" ]; then
python3 -m loc.localizer \
--dataset aachen_v1.1 \
--image_dir $image_dir \
--save_root $outputs \
--gt_pose_fn $gt_pose_fn \
--retrieval $query_pair \
--reference_sfm $outputs/sfm_$feat-$matcher \
--queries $query_fn \
--features $outputs/feats-$feat.h5 \
--matcher_method $matcher \
--ransac_thresh $ransac_thresh \
--covisibility_frame $covisibility_frame \
--obs_thresh $obs_thresh \
--opt_thresh $opt_thresh \
--inlier_thresh $inlier_thresh \
--use_hloc
fi |