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run_loc_aachen
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run_loc_aachen
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#!/bin/bash
root=/scratches/flyer_2
dataset=$root/fx221/localization/aachen_v1_1
outputs=$root/fx221/localization/outputs/aachen_v1_1
image_dir=$root/fx221/localization/aachen_v1_1/images/images_upright
seg_dir=$root/fx221/localization/aachen_v1_1/global_seg_instance
#seg_dir=$root/fx221/localization/aachen_v1_1/global_seg_instance/remap
save_root=$root/fx221/exp/shloc/aachen
#feat=resnetxn-triv2-0001-n4096-r1600-mask
#feat=resnetxn-triv2-0001-n1000-r1600-mask
#feat=resnetxn-triv2-0001-n2000-r1600-mask
feat=resnetxn-triv2-0001-n3000-r1600-mask
#feat=resnetxn-triv2-ms-0001-n4096-r1600-mask
#feat=resnetxn-triv2-ms-0001-n10000-r1600-mask
weight_name=2021_08_29_12_49_48_aachen_pspf_resnext101_32x4d_d4_u8_b16_R256_E120_ceohem_adam_seg_cls_aug_stylized
#weight_name=2021_09_06_15_13_26_aachen_deeplabv3p_resnet101_d5_u2_b8_R256_E120_ceohem_sgd_mlr_seg_cls_aug_stylized
#weight_name=2021_09_08_19_27_29_aachen_deeplabv3p_resnext101_32x4d_d5_u2_b16_R256_E120_ceohem_sgd_poly_mlr_seg_cls_aug_stylized
#weight_name=2021_09_11_22_12_37_aachen_deeplabv3p_resnext101_32x4d_d4_u2_b16_R256_E120_ceohem_sgd_poly_mlr_seg_cls_aug_stylized
#save_dir=/data/cornucopia/fx221/exp/shloc/aachen/$weight_name/loc_by_seg
save_dir=/scratches/flyer_2/fx221/exp/shloc/aachen/$weight_name/loc_by_seg
#query_pair="/home/mifs/fx221/Research/Code/Hierarchical-Localization/pairs/aachen_v1.1/pairs-query-netvlad50.txt"
#query_pair="/data/cornucopia/fx221/localization/outputs_hloc/aachen_v1.1/pairs-query-netvlad50.txt"
query_pair=datasets/aachen/pairs-query-netvlad50.txt
gt_pose_fn=/scratches/flyer_2/fx221/localization/outputs_hloc/aachen_v1_1/Aachen-v1.1_hloc_superpoint_n4096_r1600+superglue_netvlad50.txt
#matcher=NNM
matcher=NNML
#matcher=NNR
retrieval_type="lrnv"
#retrieval_type="lrnv256"
feature_type="feat_max"
global_score_th=0.95
rec_th=100
nv_th=50
ransac_thresh=12
opt_thresh=12
covisibility_frame=50
init_type="clu"
opt_type="clurefpos"
k_seg=10
k_can=5
k_rec=30
iters=5
radius=20
obs_thresh=3
# with opt
python3 -m localization.localizer \
--image_dir $image_dir \
--seg_dir $seg_dir \
--save_root $save_root \
--gt_pose_fn $gt_pose_fn \
--dataset aachen \
--map_gid_rgb_fn datasets/aachen/aachen_grgb_gid_v5.txt \
--db_imglist_fn datasets/aachen/aachen_db_imglist.txt \
--db_instance_fn aachen_452 \
--k_seg $k_seg \
--k_can $k_can \
--k_rec $k_rec \
--retrieval $query_pair \
--retrieval_type $retrieval_type \
--feature_type $feature_type \
--init_type $init_type \
--global_score_th $global_score_th \
--weight_name $weight_name \
--show_seg \
--reference_sfm $outputs/sfm_$feat-$matcher/model \
--queries $dataset/queries/day_night_time_queries_with_intrinsics.txt \
--features $outputs/feats-$feat.h5 \
--matcher_method $matcher \
--ransac_thresh $ransac_thresh \
--with_label \
--with_match \
--rec_th $rec_th \
--nv_th $nv_th \
--covisibility_frame $covisibility_frame \
--iters $iters \
--radius $radius \
--obs_thresh $obs_thresh \
--opt_thresh $opt_thresh \
--opt_type $opt_type \
--do_covisible_opt