test_robotcar

#!/bin/bash
colmap=/home/mifs/fx221/Research/Code/thirdparty/colmap/build_2204/src/colmap/exe/colmap

root_dir=/scratches/flyer_2

dataset=$root_dir/fx221/localization/RobotCar-Seasons
image_dir=$root_dir/fx221/localization/RobotCar-Seasons/images
outputs=$root_dir/fx221/localization/outputs/robotcar-seasons
db_pair=pairs/robotcar-seasons/pairs-db-covis20.txt
query_pair=pairs/robotcar-seasons/pairs-query-netvlad20-percam-perloc-rear.txt
gt_pose_fn=assets/RobotCar_hloc_superpoint+superglue_netvlad20.txt
save_root=$root_dir/fx221/exp/sgd2/robotcar-seasons

feat=ressegnetv2-20220810-wapv2-sd2mfsf-uspg-0001-n4096-r1024


matcher=NNM

extract_feat_db=0
match_db=0
triangulation=1
localize=1


if [ "$extract_feat_db" -gt "0" ]; then
  python3 -m extract_localization --image_list pairs/robotcar-seasons/robotcar_db_query_imglist.txt --image_dir $dataset/images --export_dir $outputs/ --conf $feat
fi


if [ "$match_db" -gt "0" ]; then
  python3 -m hloc.match_features --pairs $db_pair --export_dir $outputs/ --conf $matcher --features feats-$feat
fi

if [ "$triangulation" -gt "0" ]; then
  python3 -m hloc.triangulation \
    --sfm_dir $outputs/sfm_$feat-$matcher \
    --reference_sfm_model $dataset/sfm-sift \
    --image_dir $dataset/images/ \
    --pairs $db_pair \
    --features $outputs/feats-$feat.h5 \
    --matches $outputs/feats-$feat-$matcher-pairs-db-covis20.h5 \
    --colmap_path $colmap
fi

ransac_thresh=12
opt_thresh=12
covisibility_frame=20
init_type="sng"
opt_type="clurefpos"
inlier_thresh=100
iters=5
radius=20
obs_thresh=3

# with opt
if [ "$localize" -gt "0" ]; then
  python3 -m it_loc.localizer \
    --dataset robotcar \
    --image_dir $image_dir \
    --save_root $save_root \
    --gt_pose_fn $gt_pose_fn \
    --retrieval $query_pair \
    --reference_sfm $outputs/sfm_$feat-$matcher\
    --queries queries/robotcar-seasons/queries_with_intrinsics_rear.txt \
    --features $outputs/feats-$feat.h5 \
    --matcher_method $matcher \
    --ransac_thresh $ransac_thresh \
    --with_match \
    --covisibility_frame $covisibility_frame \
    --iters $iters \
    --radius $radius \
    --inlier_thresh $inlier_thresh \
    --obs_thresh $obs_thresh \
    --opt_thresh $opt_thresh \
    --init_type $init_type \
    --opt_type $opt_type \
    --do_covisible_opt
fi