main.py

import matplotlib

from PoseEstimator import PnPRansac
from Runner import SFMRunner
from sys import platform

from SFM import SensorType

# from FeatureExtractor.SuperPoint.SuperPoint import SuperPoint
from FeatureExtractor.SIFT.ScaleRotInvSIFT import ScaleRotInvSIFT


def main():
    model_name = "model"

    #########################
    # Naive SIFT
    #########################
    extractor_params = {
       'num_interest_points': 2500,
       'ksize': 3,
       'gaussian_size': 7,
       'sigma': 6,
       'alpha': 0.05,
       'feature_width': 18,
       'pyramid_level': 3,
       'pyramid_scale_factor': 1.1
    }
    SFMRunner("test_data/tallneck2_mini", 10, extractor_params, feature_extractor_class=ScaleRotInvSIFT,
             match_threshold=0.85, pose_estimator=PnPRansac, model_name=model_name, camera_sensor=SensorType.CROP_FRAME)

    #########################
    # SuperPoint
    #########################
    #extractor_params = {}

    # SFMRunner("test_data/tallneck2_mini", 5, feature_extractor_class=ScaleRotInvSIFT, extractor_params=extractor_params,
    #           match_threshold=0.85, pose_estimator=PnPRansac, camera_sensor=SensorType.CROP_FRAME, model_name=model_name)

    # Load and Visualize
    SFMRunner.load(model_name)
    

if __name__ == "__main__":
    # X11 compatibility
    if platform == "linux" or platform == "linux2":
        matplotlib.use('TkAgg')

    # Main call
    main()