AutoTracker workflow using GLOMAP by polyfjord Ported to PowerShell

AutoTracker.ps1

<#
================================================================
 PowerShell SCRIPT FOR AUTOMATED PHOTOGRAMMETRY TRACKING WORKFLOW
 By polyfjord - https://youtube.com/polyfjord
 Ported to PowerShell by Rinme with some help from ChatGPT
 Tested with Windows PowerShell 7 on Windows 11
 GLOMAP mapping (faster), COLMAP for features/matching + TXT export
================================================================
#>
param()

$ErrorActionPreference = 'Stop'

# ---------- Resolve top-level folder (one up from this .ps1) -----
$TOP = (Resolve-Path (Join-Path $PSScriptRoot '..')).Path

# ---------- Key paths -------------------------------------------
$SFM_DIR    = Join-Path $TOP '01 GLOMAP'
$VIDEOS_DIR = Join-Path $TOP '02 VIDEOS'
$FFMPEG_DIR = Join-Path $TOP '03 FFMPEG'
$SCENES_DIR = Join-Path $TOP '04 SCENES'

# ---------- Locate ffmpeg.exe -----------------------------------
$FFMPEG = $null
if (Test-Path (Join-Path $FFMPEG_DIR 'ffmpeg.exe')) {
    $FFMPEG = Join-Path $FFMPEG_DIR 'ffmpeg.exe'
} elseif (Test-Path (Join-Path $FFMPEG_DIR 'bin/ffmpeg.exe')) {
    $FFMPEG = Join-Path $FFMPEG_DIR 'bin/ffmpeg.exe'
} else {
    Write-Host "[ERROR] ffmpeg.exe not found inside '$FFMPEG_DIR'." -ForegroundColor Red
    Read-Host 'Press Enter to exit'
    exit 1
}

# ---------- Locate glomap.exe -----------------------------------
$GLOMAP = $null
if (Test-Path (Join-Path $SFM_DIR 'glomap.exe')) {
    $GLOMAP = Join-Path $SFM_DIR 'glomap.exe'
} elseif (Test-Path (Join-Path $SFM_DIR 'bin/glomap.exe')) {
    $GLOMAP = Join-Path $SFM_DIR 'bin/glomap.exe'
} else {
    Write-Host "[ERROR] glomap.exe not found inside '$SFM_DIR'." -ForegroundColor Red
    Read-Host 'Press Enter to exit'
    exit 1
}

# ---------- Locate colmap.exe (DB + TXT export) ------------------
$COLMAP = $null
if (Test-Path (Join-Path $SFM_DIR 'colmap.exe')) {
    $COLMAP = Join-Path $SFM_DIR 'colmap.exe'
} elseif (Test-Path (Join-Path $SFM_DIR 'bin/colmap.exe')) {
    $COLMAP = Join-Path $SFM_DIR 'bin/colmap.exe'
} else {
    Write-Host "[ERROR] colmap.exe not found inside '$SFM_DIR'." -ForegroundColor Red
    Read-Host 'Press Enter to exit'
    exit 1
}

# ---------- Put binaries on PATH --------------------------------
$env:PATH = (Join-Path $SFM_DIR '.') + ";" + (Join-Path $SFM_DIR 'bin') + ";" + $env:PATH

# ---------- Ensure required folders exist ------------------------
if (-not (Test-Path $VIDEOS_DIR)) {
    Write-Host "[ERROR] Input folder '$VIDEOS_DIR' missing." -ForegroundColor Red
    Read-Host 'Press Enter to exit'
    exit 1
}
if (-not (Test-Path $SCENES_DIR)) { New-Item -ItemType Directory -Path $SCENES_DIR | Out-Null }

# ---------- Count videos for progress bar ------------------------
$videos = Get-ChildItem -Path $VIDEOS_DIR -File | Sort-Object Name
$TOTAL  = ($videos | Measure-Object).Count
if ($TOTAL -eq 0) {
    Write-Host "[INFO] No video files found in '$VIDEOS_DIR'." -ForegroundColor Yellow
    Read-Host 'Press Enter to exit'
    exit 0
}

Write-Host ('=' * 61)
Write-Host " Starting GLOMAP pipeline on $TOTAL video(s) …"
Write-Host ('=' * 61)

function Invoke-Checked {
    param(
        [Parameter(Mandatory)] [string] $Exe,
        [Parameter(Mandatory)] [string[]] $Args,
        [string] $FailMessage
    )
    & $Exe @Args
    if ($LASTEXITCODE -ne 0) {
        if ($FailMessage) { Write-Host "        × $FailMessage" -ForegroundColor Red }
        throw "Command failed: $Exe"
    }
}

function Process-Video {
    param(
        [Parameter(Mandatory)] [string] $VideoPath,
        [Parameter(Mandatory)] [int]    $Index,
        [Parameter(Mandatory)] [int]    $Total
    )

    $BASE = [System.IO.Path]::GetFileNameWithoutExtension($VideoPath)
    $EXT  = [System.IO.Path]::GetExtension($VideoPath)

    Write-Host "`n[$Index/$Total] === Processing '$BASE$EXT' ==="

    # -------- Directory layout for this scene --------------------
    $SCENE      = Join-Path $SCENES_DIR $BASE
    $IMG_DIR    = Join-Path $SCENE 'images'
    $SPARSE_DIR = Join-Path $SCENE 'sparse'

    # -------- Skip if already reconstructed ----------------------
    if (Test-Path $SCENE) {
        Write-Host "       • Skipping '$BASE' – already reconstructed."
        return
    }

    # Clean slate -------------------------------------------------
    New-Item -ItemType Directory -Path $IMG_DIR    -Force | Out-Null
    New-Item -ItemType Directory -Path $SPARSE_DIR -Force | Out-Null

    # -------- 1) Extract every frame -----------------------------
    Write-Host "       [1/4] Extracting frames …"
    try {
        Invoke-Checked -Exe $FFMPEG -Args @('-loglevel','error','-stats','-i', $VideoPath, '-qscale:v','2', (Join-Path $IMG_DIR 'frame_%06d.jpg')) -FailMessage "FFmpeg failed – skipping '$BASE'."
    } catch { return }

    if (-not (Get-ChildItem -Path (Join-Path $IMG_DIR '*.jpg') -ErrorAction SilentlyContinue)) {
        Write-Host "       × No frames extracted – skipping '$BASE'." -ForegroundColor Red
        return
    }

    # -------- 2) Feature extraction (COLMAP) ---------------------
    Write-Host "       [2/4] COLMAP feature_extractor …"
    try {
        Invoke-Checked -Exe $COLMAP -Args @('feature_extractor',
            '--database_path', (Join-Path $SCENE 'database.db'),
            '--image_path',    $IMG_DIR,
            '--ImageReader.single_camera','1',
            '--SiftExtraction.use_gpu','1',
            '--SiftExtraction.max_image_size','4096'
        ) -FailMessage 'feature_extractor failed – skipping.'
    } catch { return }

    # -------- 3) Sequential matching (COLMAP) --------------------
    Write-Host "       [3/4] COLMAP sequential_matcher …"
    try {
        Invoke-Checked -Exe $COLMAP -Args @('sequential_matcher',
            '--database_path', (Join-Path $SCENE 'database.db'),
            '--SequentialMatching.overlap','15'
        ) -FailMessage 'sequential_matcher failed – skipping.'
    } catch { return }

    # -------- 4) Sparse reconstruction (GLOMAP) ------------------
    Write-Host "       [4/4] GLOMAP mapper …"
    try {
        Invoke-Checked -Exe $GLOMAP -Args @('mapper',
            '--database_path', (Join-Path $SCENE 'database.db'),
            '--image_path',    $IMG_DIR,
            '--output_path',   $SPARSE_DIR
        ) -FailMessage 'glomap mapper failed – skipping.'
    } catch { return }

    # -------- Export TXT **inside the model folder** -------------
    $model0 = Join-Path $SPARSE_DIR '0'
    if (Test-Path $model0) {
        & $COLMAP 'model_converter' '--input_path'  $model0 '--output_path' $model0 '--output_type' 'TXT' *> $null
    }

    # -------- Export TXT to parent sparse\ (for Blender autodetect)
    if (Test-Path $model0) {
        & $COLMAP 'model_converter' '--input_path'  $model0 '--output_path' $SPARSE_DIR '--output_type' 'TXT' *> $null
    }

    Write-Host "       ✓ Finished '$BASE'  ($Index/$Total)" -ForegroundColor Green
}

# ---------- Main loop -------------------------------------------
$idx = 0
foreach ($v in $videos) {
    $idx++
    Write-Progress -Activity 'GLOMAP pipeline' -Status "$idx / $TOTAL : $($v.Name)" -PercentComplete ([int](100*$idx/$TOTAL))
    Process-Video -VideoPath $v.FullName -Index $idx -Total $TOTAL
}
Write-Progress -Activity 'GLOMAP pipeline' -Completed

Write-Host ('-' * 62)
Write-Host " All jobs finished – results are in '$SCENES_DIR'."
Write-Host ('-' * 62)

Read-Host 'Press Enter to exit'