an eink camera running on an rpi zero 2 w
dunkirk.sh
1@echo off
2setlocal
3
4REM --- Windows Batch Version of inky/colmap.sh ---
5REM --- Modified to use CUDA for GPU acceleration ---
6
7REM Prerequisites:
8REM 1. ffmpeg.exe must be in the system PATH or the same directory as this script.
9REM 2. The COLMAP build MUST support CUDA.
10REM 3. Appropriate NVIDIA drivers and CUDA toolkit (compatible with your COLMAP build) must be installed.
11
12REM Set COLMAP path (modify this path to match your COLMAP location)
13set COLMAP_PATH=C:\Users\kiera\Downloads\colmap-x64-windows-cuda\colmap.bat
14
15REM Define paths (using backslashes for Windows compatibility)
16set INPUT_VIDEO=data\input.mov
17set FRAMES_DIR=data\frames
18set COLMAP_DB=data\colmap.db
19set SPARSE_DIR=data\sparse
20set DENSE_DIR=data\dense
21
22REM Check if input video exists
23if not exist "%INPUT_VIDEO%" (
24 echo Error: Input video not found at %INPUT_VIDEO%
25 exit /b 1
26)
27
28REM Create directories
29echo Creating directories...
30if not exist "data" mkdir "data"
31if not exist "%FRAMES_DIR%" mkdir "%FRAMES_DIR%"
32if errorlevel 1 ( echo Failed to create %FRAMES_DIR%. & exit /b 1 )
33if not exist "%SPARSE_DIR%" mkdir "%SPARSE_DIR%"
34if errorlevel 1 ( echo Failed to create %SPARSE_DIR%. & exit /b 1 )
35if not exist "%DENSE_DIR%" mkdir "%DENSE_DIR%"
36if errorlevel 1 ( echo Failed to create %DENSE_DIR%. & exit /b 1 )
37
38REM Step 1: Extract frames from video
39echo Extracting frames from video...
40ffmpeg -i "%INPUT_VIDEO%" -q:v 1 "%FRAMES_DIR%\frame_%%04d.jpg"
41if errorlevel 1 (
42 echo Error: ffmpeg frame extraction failed. Check ffmpeg output/log.
43 exit /b 1
44)
45
46REM Step 2: Run COLMAP feature extraction (Using CUDA GPU)
47echo Running COLMAP feature extraction (CUDA)...
48"%COLMAP_PATH%" feature_extractor ^
49 --database_path "%COLMAP_DB%" ^
50 --image_path "%FRAMES_DIR%" ^
51 --ImageReader.camera_model SIMPLE_RADIAL ^
52 --SiftExtraction.use_gpu 1
53if errorlevel 1 (
54 echo Error: COLMAP feature_extractor failed. Check COLMAP output/log. Ensure CUDA is working.
55 exit /b 1
56)
57
58REM Step 3: Run COLMAP feature matching (Using CUDA GPU)
59echo Running COLMAP feature matching (CUDA)...
60"%COLMAP_PATH%" exhaustive_matcher ^
61 --database_path "%COLMAP_DB%" ^
62 --SiftMatching.use_gpu 1
63if errorlevel 1 (
64 echo Error: COLMAP exhaustive_matcher failed. Check COLMAP output/log. Ensure CUDA is working.
65 exit /b 1
66)
67
68REM Step 4: Run COLMAP sparse reconstruction
69REM Note: The 'mapper' step primarily uses CPU.
70echo Running COLMAP sparse reconstruction...
71"%COLMAP_PATH%" mapper ^
72 --database_path "%COLMAP_DB%" ^
73 --image_path "%FRAMES_DIR%" ^
74 --output_path "%SPARSE_DIR%"
75if errorlevel 1 (
76 echo Warning: COLMAP mapper returned an error code (%ERRORLEVEL%), but proceeding. Check COLMAP output/log.
77 REM Mapper might "fail" (e.g., if few matches) but sometimes produces usable results.
78 REM More robust checking might be needed depending on COLMAP's specific exit codes.
79)
80
81REM Check if the expected output directory from mapper exists
82REM COLMAP often creates numbered subdirectories (0, 1, ...) for different models.
83REM We assume the first model (0) is the one we want.
84if not exist "%SPARSE_DIR%\0" (
85 echo Error: Sparse reconstruction output directory (%SPARSE_DIR%\0) not found.
86 echo Mapper likely failed to produce a valid reconstruction. Check COLMAP output/log.
87 exit /b 1
88)
89
90REM Step 5: Run COLMAP dense reconstruction
91echo Running COLMAP image undistorter...
92"%COLMAP_PATH%" image_undistorter ^
93 --image_path "%FRAMES_DIR%" ^
94 --input_path "%SPARSE_DIR%\0" ^
95 --output_path "%DENSE_DIR%"
96if errorlevel 1 (
97 echo Error: COLMAP image_undistorter failed. Check COLMAP output/log.
98 exit /b 1
99)
100
101echo Running COLMAP patch matching (Using CUDA GPU)...
102REM Use --PatchMatchStereo.gpu_index 0 to select the first CUDA device. Change if needed.
103"%COLMAP_PATH%" patch_match_stereo ^
104 --workspace_path "%DENSE_DIR%" ^
105 --PatchMatchStereo.gpu_index 0
106if errorlevel 1 (
107 echo Error: COLMAP patch_match_stereo failed. Check COLMAP output/log. Ensure CUDA is working.
108 exit /b 1
109)
110
111echo Running COLMAP stereo fusion...
112REM Note: Stereo fusion is primarily CPU-bound.
113"%COLMAP_PATH%" stereo_fusion ^
114 --workspace_path "%DENSE_DIR%" ^
115 --output_path "%DENSE_DIR%\fused.ply"
116if errorlevel 1 (
117 echo Error: COLMAP stereo_fusion failed. Check COLMAP output/log.
118 exit /b 1
119)
120
121REM Output camera pose information
122echo Extracting camera pose information...
123"%COLMAP_PATH%" model_converter ^
124 --input_path "%SPARSE_DIR%\0" ^
125 --output_path "%SPARSE_DIR%\txt" ^
126 --output_type TXT
127if errorlevel 1 (
128 echo Error: COLMAP model_converter failed. Check COLMAP output/log.
129 exit /b 1
130)
131
132echo COLMAP processing complete!
133echo Camera poses are in: %SPARSE_DIR%\txt\images.txt
134echo Dense point cloud is in: %DENSE_DIR%\fused.ply
135
136echo Script completed successfully
137endlocal
138exit /b 0