An easy script for sfm using colmap

sfm_from_videos.sh

#!/bin/bash

# Extract frames from video
mkdir images
ffmpeg -i $1 -r 24 -q:v 1 images/%06d.jpg
# ffmpeg -i $1 -ss start[sec] -t end[sec] [framerate] -q:v 1 %06d.jpg

# start to colmap process

DATASET_PATH=$(pwd)
echo $DATASET_PATH

# feature extractor
colmap feature_extractor \
  --database_path $DATASET_PATH/database.db \
  --image_path $DATASET_PATH/images \
  --ImageReader.camera_model OPENCV \
  --ImageReader.single_camera 1 \
  --SiftExtraction.use_gpu 1 \
  --SiftExtraction.gpu_index 0 \
  --SiftExtraction.num_octaves 5 \
  --SiftExtraction.estimate_affine_shape 1
  # Other options 
  # --ImageReader.camera_model FULL_OPENCV \

# feature matcher
colmap sequential_matcher \
  --database_path $DATASET_PATH/database.db \
  --SiftMatching.use_gpu true \
  --SiftMatching.gpu_index 0,1 \
  --SiftMatching.cross_check 1 \
  --SiftMatching.guided_matching 1 \
  --SequentialMatching.overlap 20 \
  --SequentialMatching.loop_detection 1

mkdir sparse
# 3D reconstruction
colmap mapper --database_path $DATASET_PATH/database.db \
  --image_path $DATASET_PATH/images \
  --output_path $DATASET_PATH/sparse \
  --Mapper.ba_refine_extra_params 0 \
  --Mapper.filter_max_reproj_error 0.900 \
  --Mapper.ba_global_use_pba 0

# BA 1st
colmap bundle_adjuster \
  --input_path $DATASET_PATH/sparse/0 \
  --output_path $DATASET_PATH/sparse/0 \
  --BundleAdjustment.refine_focal_length 1 \
  --BundleAdjustment.refine_principal_point 0 \
  --BundleAdjustment.refine_extra_params 1 \
  --BundleAdjustment.refine_extrinsics 1

# BA final
colmap bundle_adjuster \
  --input_path $DATASET_PATH/sparse/0 \
  --output_path $DATASET_PATH/sparse/0 \
  --BundleAdjustment.refine_focal_length 1 \
  --BundleAdjustment.refine_principal_point 1 \
  --BundleAdjustment.refine_extra_params 1 \
  --BundleAdjustment.refine_extrinsics 1

# Export sparse model
colmap model_converter --input_path sparse/0/ --output_path sparse/0/output_sparse.ply --output_type PLY

mkdir $DATASET_PATH/dense

colmap image_undistorter \
  --image_path $DATASET_PATH/images \
  --input_path $DATASET_PATH/sparse/0 \
  --output_path $DATASET_PATH/dense \
  --output_type COLMAP \
  --max_image_size 2000

colmap patch_match_stereo \
  --workspace_path $DATASET_PATH/dense \
  --workspace_format COLMAP \
  --PatchMatchStereo.geom_consistency true

colmap stereo_fusion \
  --workspace_path $DATASET_PATH/dense \
  --workspace_format COLMAP \
  --input_type geometric \
  --output_path $DATASET_PATH/dense/fused.ply

colmap poisson_mesher \
  --input_path $DATASET_PATH/dense/fused.ply \
  --output_path $DATASET_PATH/dense/meshed-poisson.ply

colmap delaunay_mesher \
  --input_path $DATASET_PATH/dense \
  --output_path $DATASET_PATH/dense/meshed-delaunay.ply