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Localization_localsfm_colmap.m
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Localization_localsfm_colmap.m
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clear all;
close all;
%user define%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
dataset_name = 'SanFrancisco';
%initial top1 localization
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor100_SR';
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor30_SR';
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor70_SR';
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor80_SR';
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor160_SR';
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor90_SR';
% shortlist_basename = 'densevlad_gpsinit_uncertainty50_neighbor225_SR';
% shortlist_basename = 'shortlist_disloc_interplace';
% shortlist_basename = 'shortlist_format_2_SR';
shortlist_basename = 'shortlist_disloc_interplace_new';
top1_matname = fullfile('outputs', dataset_name, 'localization_results', shortlist_basename, 'top1locposes.mat');
%sfm results (nvm)
colmap_dir = fullfile('outputs', dataset_name, 'colmap_results', shortlist_basename, 'all');
% range = 25;
% colmap_dir = fullfile('outputs', dataset_name, 'colmap_results', shortlist_basename, sprintf('range%d', range));
PCI_header = 'PCI_sp_';
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%output%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
output_dir = fullfile('outputs', dataset_name);
recon_dir = fullfile(output_dir, 'recon_from_shortlist_colmap', shortlist_basename, 'all');
% recon_dir = fullfile(output_dir, 'recon_from_shortlist_colmap', shortlist_basename, sprintf('range%d', range));
query_matname = 'query.mat';
PCI_matname = 'PCI.mat';
Points_matname = 'Points3D.mat';
trns_matname = 'COLMAP2UTMtrns.mat';
output_localization_name = fullfile('outputs', dataset_name, 'localization_results', shortlist_basename, 'localsfmrangeinflocposes_colmap.mat');
% output_localization_name = fullfile('outputs', dataset_name, 'localization_results', shortlist_basename, sprintf('localsfmrange%dlocposes_colmap.mat', range));
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% load shortlist
load_save_shortlist_reuse;
%load top1 poses
load(top1_matname);%locposes
%% localsfm pose
for i = 1:1:length(locposes)
this_locposes = locposes(i);
%Load colmap result
this_colmap_path = fullfile(colmap_dir, this_locposes.Query_name, '0');
this_colmap_output_path = fullfile(recon_dir, this_locposes.Query_name);
if exist(fullfile(this_colmap_output_path, PCI_matname), 'file') ~= 2
try
%a. images
Images_colmap = load_colmap_images( this_colmap_path );
%b. cameras
Cameras_colmap = load_colmap_cameras( this_colmap_path );
[~, id] = sort([Cameras_colmap.camid], 'ascend');
Cameras_colmap = Cameras_colmap(id);
%c. points
Points_colmap = load_colmap_points3D( this_colmap_path );
catch
Images_colmap = [];
Cameras_colmap = [];
Points_colmap = [];
end
if size(Images_colmap, 2) == 0
continue;
end
%find query and PCI
this_rcnnames = {Images_colmap.name};
camid_all = [Cameras_colmap.camid];
%a. query
isQrcn = strcmp(this_locposes.Query_name, this_rcnnames);
imQrcn = Images_colmap(isQrcn);
if sum(isQrcn) > 0
imQ_camid = [Images_colmap(isQrcn).camid];
camQrcn = Cameras_colmap(camid_all == imQ_camid);
else
camQrcn = [];
end
%b. PCI
isPCIrcn = ~isQrcn;
imPCIrcn = Images_colmap(isPCIrcn);
if sum(isPCIrcn) > 0
imPCI_camid = [Images_colmap(isPCIrcn).camid];
[idx, ~] = find(repmat(camid_all', 1, sum(isPCIrcn)) == repmat(imPCI_camid, length(camid_all), 1));
camPCIrcn = Cameras_colmap(idx);
else
camPCIrcn = [];
end
%save reconstruction
if exist(this_colmap_output_path, 'dir') ~= 7
mkdir(this_colmap_output_path);
end
save('-v6', fullfile(this_colmap_output_path, query_matname), 'isQrcn', 'imQrcn', 'camQrcn');
save('-v6', fullfile(this_colmap_output_path, PCI_matname), 'isPCIrcn', 'imPCIrcn', 'camPCIrcn');
save('-v6', fullfile(this_colmap_output_path, Points_matname), 'Points_colmap');
else
load(fullfile(this_colmap_output_path, query_matname), 'isQrcn', 'imQrcn', 'camQrcn');
load(fullfile(this_colmap_output_path, PCI_matname), 'isPCIrcn', 'imPCIrcn', 'camPCIrcn');
load(fullfile(this_colmap_output_path, Points_matname), 'Points_colmap');
end
%compute similarity transform
if exist(fullfile(this_colmap_output_path, trns_matname), 'file') ~= 2
if sum(isQrcn)>0 && sum(isPCIrcn)>=2
%PCI gravity approximation
PCI_rcn = [imPCIrcn.position];
PCI_utm = zeros(3, sum(isPCIrcn));
PCI_gravity_all = zeros(3, sum(isPCIrcn));
for ii = 1:1:sum(isPCIrcn)
PCI_gpsinfo = loadgps_from_davidchen_imgname(imPCIrcn(ii).name);
[PCI_utm(1, ii), PCI_utm(2, ii)] = lltoutm(PCI_gpsinfo.lat, PCI_gpsinfo.lng);
PCI_gravity_all(:, ii) = imPCIrcn(ii).R' * R_x(-PCI_gpsinfo.pitch*pi/180) * [0; -1; 0];
end
PCI_gravity = median_direction_3D(PCI_gravity_all);
%LO-RANSAC
[Rout, ceout, tout, output_inls] = ht_ransac_simtrans_gravityfixed(PCI_utm, PCI_rcn, PCI_gravity, 1);
else
Rout = [];
ceout = [];
tout = [];
output_inls = [];
end
if sum(output_inls) > 0
gravity = PCI_gravity;
save('-v6', fullfile(this_colmap_output_path, trns_matname), 'Rout', 'ceout', 'tout', 'gravity', 'output_inls');
% [R, t] = extrinsic_coordtrans(imQrcn.R, imQrcn.t, Rout, tout, ceout);
% PQ_UTM = [R, t];
% save('-v6', fullfile(this_colmap_output_path, names.colmap.PQ_PCI_matname), 'PQ_UTM');
end
else
load(fullfile(this_colmap_output_path, trns_matname), 'Rout', 'ceout', 'tout', 'gravity', 'output_inls');
end
%Compute query 6DoF pose
if sum(output_inls) > 0
[R, t] = extrinsic_coordtrans(imQrcn.R, imQrcn.t, Rout, tout, ceout);
locposes(i).P = [R, t];
locposes(i).C = p2c(locposes(i).P);
locposes(i).score = locposes(i).score + sum(output_inls);
end
fprintf('%s DONE.\n', this_locposes.Query_name);
end
%% save localization results
save('-v6', output_localization_name, 'locposes');