def image_retrieval_benchmark_command_line():
"""
Parse the command line arguments to run the image retrieval benchmark on kapture data.
"""
parser = image_retrieval_benchmark_get_parser()
args = parser.parse_args()
logger.setLevel(args.verbose)
if args.verbose <= logging.INFO:
# also let kapture express its logs
kapture.utils.logging.getLogger().setLevel(args.verbose)
kapture_localization.utils.logging.getLogger().setLevel(args.verbose)
args_dict = vars(args)
logger.debug('image_retrieval_benchmark.py \\\n' +
' \\\n'.join('--{:20} {:100}'.format(k, str(v))
for k, v in args_dict.items()))
if can_use_symlinks():
python_binary = args.python_binary
if args.auto_python_binary:
python_binary = sys.executable
logger.debug(f'python_binary set to {python_binary}')
image_retrieval_benchmark(
args.kapture_map, args.query, args.merge_path, args.keypoints_path,
args.descriptors_path, args.global_features_path,
args.matches_path, args.matches_gv_path, args.keypoints_type,
args.descriptors_type, args.global_features_type, args.colmap_map,
args.output, args.colmap_binary, python_binary, args.topk,
args.config, args.benchmark_style, args.skip, args.force)
else:
raise EnvironmentError(
'Please restart this command as admin, it is required for os.symlink'
'see https://docs.python.org/3.6/library/os.html#os.symlink')
def localize_pipeline_command_line():
"""
Parse the command line arguments to localize images on a colmap map using the given kapture data.
"""
parser = localize_pipeline_get_parser()
args = parser.parse_args()
logger.setLevel(args.verbose)
if args.verbose <= logging.INFO:
# also let kapture express its logs
kapture.utils.logging.getLogger().setLevel(args.verbose)
kapture_localization.utils.logging.getLogger().setLevel(args.verbose)
# only show the warning if the user attempted to change the topk value since it'll have no effect
if args.pairsfile_path is not None and args.topk != DEFAULT_TOPK:
logger.warning(f'pairsfile was given explicitely, paramerer topk={args.topk} will be ignored')
args_dict = vars(args)
logger.debug('localize.py \\\n' + ' \\\n'.join(
'--{:20} {:100}'.format(k, str(v)) for k, v in args_dict.items()))
if can_use_symlinks():
python_binary = args.python_binary
if args.auto_python_binary:
python_binary = sys.executable
logger.debug(f'python_binary set to {python_binary}')
localize_pipeline(args.kapture_map,
args.query,
args.merge_path,
args.keypoints_path,
args.descriptors_path,
args.global_features_path,
args.pairsfile_path,
args.matches_path,
args.matches_gv_path,
args.keypoints_type,
args.descriptors_type,
args.global_features_type,
args.colmap_map,
args.output,
args.colmap_binary,
python_binary,
args.topk,
args.config,
args.benchmark_style,
args.bins,
args.skip,
args.force)
else:
raise EnvironmentError('Please restart this command as admin, it is required for os.symlink'
'see https://docs.python.org/3.6/library/os.html#os.symlink')
def image_retrieval_benchmark_command_line():
"""
Parse the command line arguments to run the image retrieval benchmark on kapture data.
"""
parser = argparse.ArgumentParser(
description='run the image retrieval benchmark on kapture data')
parser_verbosity = parser.add_mutually_exclusive_group()
parser_verbosity.add_argument(
'-v',
'--verbose',
nargs='?',
default=logging.WARNING,
const=logging.INFO,
action=kapture.utils.logging.VerbosityParser,
help=
'verbosity level (debug, info, warning, critical, ... or int value) [warning]'
)
parser_verbosity.add_argument('-q',
'--silent',
'--quiet',
action='store_const',
dest='verbose',
const=logging.CRITICAL)
parser.add_argument(
'-f',
'-y',
'--force',
action='store_true',
default=False,
help=
'silently delete pairfile and localization results if already exists.')
parser.add_argument('-i',
'--kapture-map',
required=True,
help='path to the kapture map directory')
parser.add_argument(
'--query',
required=True,
help='input path to kapture mapping data root directory')
parser.add_argument(
'--merge-path',
required=False,
default=None,
help=
('optional, path to the kapture map+query directory. '
'using this will skip the call to kapture_merge.py and save some time'
))
parser.add_argument('-kpt',
'--keypoints-path',
required=True,
help='input path to the orphan keypoints folder')
parser.add_argument('-desc',
'--descriptors-path',
required=True,
help='input path to the orphan descriptors folder')
parser.add_argument('-gfeat',
'--global-features-path',
required=True,
help='input path to the orphan global features folder')
parser.add_argument(
'-matches',
'--matches-path',
required=True,
help=
'input path to the orphan matches (no geometric verification) folder')
parser.add_argument(
'-matches-gv',
'--matches-gv-path',
required=True,
help=
'input path to the orphan matches (with geometric verification) folder'
)
parser.add_argument('--colmap-map',
required=True,
help='path to the colmap map directory')
parser.add_argument('-o',
'--output',
required=True,
help='output directory.')
parser.add_argument('-colmap',
'--colmap_binary',
required=False,
default="colmap",
help='full path to colmap binary '
'(default is "colmap", i.e. assume the binary'
' is in the user PATH).')
parser_python_bin = parser.add_mutually_exclusive_group()
parser_python_bin.add_argument(
'-python',
'--python_binary',
required=False,
default=None,
help='full path to python binary '
'(default is "None", i.e. assume the os'
' can infer the python binary from the files itself, shebang or extension).'
)
parser_python_bin.add_argument('--auto-python-binary',
action='store_true',
default=False,
help='use sys.executable as python binary.')
parser.add_argument(
'--topk',
default=20,
type=int,
help=
'the max number of top retained images when computing image pairs from global features'
)
parser.add_argument(
'--config',
default=1,
type=int,
choices=list(range(len(CONFIGS))),
help='what config to use for global sfm image registrator')
parser.add_argument(
'--prepend_cam',
action='store_true',
default=False,
help=('prepend camera names to filename in LTVL2020 formatted output. '
'Toggle this only for RobotCar_Seasons and RobotCar Seasons v2'))
parser.add_argument('-s',
'--skip',
choices=[
'compute_image_pairs', 'compute_matches',
'geometric_verification', 'global_sfm',
'local_sfm', 'pose_approximation', 'evaluate',
'export_LTVL2020'
],
nargs='+',
default=[],
help='steps to skip')
args = parser.parse_args()
logger.setLevel(args.verbose)
if args.verbose <= logging.INFO:
# also let kapture express its logs
kapture.utils.logging.getLogger().setLevel(args.verbose)
kapture_localization.utils.logging.getLogger().setLevel(args.verbose)
args_dict = vars(args)
logger.debug('image_retrieval_benchmark.py \\\n' +
' \\\n'.join('--{:20} {:100}'.format(k, str(v))
for k, v in args_dict.items()))
if can_use_symlinks():
python_binary = args.python_binary
if args.auto_python_binary:
python_binary = sys.executable
logger.debug(f'python_binary set to {python_binary}')
image_retrieval_benchmark(
args.kapture_map, args.query, args.merge_path, args.keypoints_path,
args.descriptors_path, args.global_features_path,
args.matches_path, args.matches_gv_path, args.colmap_map,
args.output, args.colmap_binary, python_binary, args.topk,
args.config, args.prepend_cam, args.skip, args.force)
else:
raise EnvironmentError(
'Please restart this command as admin, it is required for os.symlink'
'see https://docs.python.org/3.6/library/os.html#os.symlink')
def mapping_pipeline_command_line():
"""
Parse the command line arguments to build a colmap map using the given kapture data.
"""
parser = argparse.ArgumentParser(description=('create a Colmap model (map) from data specified in kapture format.'
'kapture data must contain keypoints, descriptors and '
'global features'))
parser_verbosity = parser.add_mutually_exclusive_group()
parser_verbosity.add_argument('-v', '--verbose', nargs='?', default=logging.WARNING, const=logging.INFO,
action=kapture.utils.logging.VerbosityParser,
help='verbosity level (debug, info, warning, critical, ... or int value) [warning]')
parser_verbosity.add_argument('-q', '--silent', '--quiet', action='store_const',
dest='verbose', const=logging.CRITICAL)
parser.add_argument('-f', '-y', '--force', action='store_true', default=False,
help='silently delete pairfile and colmap reconstruction if already exists.')
parser.add_argument('-i', '--kapture-map', required=True,
help='input path to kapture mapping data root directory')
parser.add_argument('-kpt', '--keypoints-path', required=True,
help='input path to the orphan keypoints folder')
parser.add_argument('-desc', '--descriptors-path', required=True,
help='input path to the orphan descriptors folder')
parser.add_argument('-gfeat', '--global-features-path', required=True,
help='input path to the orphan global features folder')
parser.add_argument('-matches', '--matches-path', required=True,
help='input path to the orphan matches (no geometric verification) folder')
parser.add_argument('-matches-gv', '--matches-gv-path', required=True,
help='input path to the orphan matches (with geometric verification) folder')
parser.add_argument('--colmap-map', required=True,
help='output directory for the pairfile and colmap reconstruction.')
parser.add_argument('-colmap', '--colmap_binary', required=False,
default="colmap",
help='full path to colmap binary '
'(default is "colmap", i.e. assume the binary'
' is in the user PATH).')
parser_python_bin = parser.add_mutually_exclusive_group()
parser_python_bin.add_argument('-python', '--python_binary', required=False,
default=None,
help='full path to python binary '
'(default is "None", i.e. assume the os'
' can infer the python binary from the files itself, shebang or extension).')
parser_python_bin.add_argument('--auto-python-binary', action='store_true', default=False,
help='use sys.executable as python binary.')
parser.add_argument('--topk',
default=20,
type=int,
help='the max number of top retained images when computing image pairs from global features')
parser.add_argument('-s', '--skip', choices=['compute_image_pairs',
'compute_matches',
'geometric_verification',
'colmap_build_map'],
nargs='+', default=[],
help='steps to skip')
args = parser.parse_args()
logger.setLevel(args.verbose)
if args.verbose <= logging.INFO:
# also let kapture express its logs
kapture.utils.logging.getLogger().setLevel(args.verbose)
kapture_localization.utils.logging.getLogger().setLevel(args.verbose)
args_dict = vars(args)
logger.debug('mapping.py \\\n' + ' \\\n'.join(
'--{:20} {:100}'.format(k, str(v)) for k, v in args_dict.items()))
if can_use_symlinks():
python_binary = args.python_binary
if args.auto_python_binary:
python_binary = sys.executable
logger.debug(f'python_binary set to {python_binary}')
mapping_pipeline(args.kapture_map,
args.keypoints_path,
args.descriptors_path,
args.global_features_path,
args.matches_path,
args.matches_gv_path,
args.colmap_map,
args.colmap_binary,
python_binary,
args.topk,
args.skip,
args.force)
else:
raise EnvironmentError('Please restart this command as admin, it is required for os.symlink'
'see https://docs.python.org/3.6/library/os.html#os.symlink')
def create_kapture_proxy_command_line():
parser = argparse.ArgumentParser(
description='Create a proxy kapture from a source kapture with only sensors data and orphan features.')
parser_verbosity = parser.add_mutually_exclusive_group()
parser_verbosity.add_argument('-v', '--verbose', nargs='?', default=logging.WARNING, const=logging.INFO,
action=kapture.utils.logging.VerbosityParser,
help='verbosity level (debug, info, warning, critical, ... or int value) [warning]')
parser_verbosity.add_argument('-q', '--silent', '--quiet',
action='store_const', dest='verbose', const=logging.CRITICAL)
parser.add_argument('-f', '-y', '--force', action='store_true', default=False,
help='silently output folder content if it already exist.')
parser.add_argument('-i', '--input', required=True, help=('input path to kapture input root directory'
' (only sensors will be used)'))
parser.add_argument('-o', '--output', required=True, help='output path to the proxy kapture')
parser.add_argument('-kpt', '--keypoints-path', default=None, nargs='+',
help='input path to the orphan keypoints folder')
parser.add_argument('-desc', '--descriptors-path', default=None, nargs='+',
help='input path to the orphan descriptors folder')
parser.add_argument('-gfeat', '--global-features-path', default=None, nargs='+',
help='input path to the orphan global features folder')
parser.add_argument('-matches', '--matches-path', default=None, nargs='+',
help=('input path to the orphan matches folder, '
'if both keypoints-path and matches-paths are given, '
'the order of the two list must be the same (same as keypoints-type), '
'use the none if necessary, it will be converted to None in code'))
parser.add_argument('--keypoints-type', default=None, nargs='+', help='kapture keypoints types.')
parser.add_argument('--descriptors-type', default=None, nargs='+', help='kapture descriptors types.')
parser.add_argument('--global-features-type', default=None, nargs='+', help='kapture global features types.')
args = parser.parse_args()
logger.setLevel(args.verbose)
if args.verbose <= logging.DEBUG:
# also let kapture express its logs
kapture.utils.logging.getLogger().setLevel(args.verbose)
kapture_localization.utils.logging.getLogger().setLevel(args.verbose)
logger.debug(''.join(['\n\t{:13} = {}'.format(k, v)
for k, v in vars(args).items()]))
if can_use_symlinks():
keypoints_paths = _convert_none_string_array(args.keypoints_path)
descriptors_paths = args.descriptors_path
global_features_path = args.global_features_path
matches_paths = _convert_none_string_array(args.matches_path)
keypoints_types = _convert_none_string_array(args.keypoints_type)
descriptors_types = _convert_none_string_array(args.descriptors_type)
global_features_types = _convert_none_string_array(args.global_features_type)
create_kapture_proxy(args.output, args.input,
keypoints_paths, descriptors_paths,
global_features_path, matches_paths,
keypoints_types, descriptors_types,
global_features_types,
args.force)
else:
raise EnvironmentError('Please restart this command as admin, it is required for os.symlink'
'see https://docs.python.org/3.6/library/os.html#os.symlink')