Support rigs/frames in incremental mapper#3238
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ahojnnes merged 144 commits intofeature/rigfrom Apr 16, 2025
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…camera rays (#3159) This is the first in a series of PRs to support cameras with >180deg FOV (including spherical cameras). This PR should result in no behavioral change other than changes up to numerical precision.
Currently, if we manage to initialize from one pair but get stuck after a few images and none of the other pairs satisfy the initialization thresholds, then we never try to initialize from a relaxed set of thresholds anymore for the remaining images, even though there is a high chance to succeed. In addition, we unnecessarily tried the same pairs redundantly for the same initialization constraints. This should result in more complete reconstruction results and faster initialization.
…#3167) This was a big confusion. I added some comments to explain why the fix in #3155 was correct. In the end its because that in COLMAP we use the left convention, while in GTSAM and its reference paper here https://arxiv.org/pdf/1812.01537 the right convention was employed. This is also in preparation for another PR on propagating relative pose covariance in COLMAP (with left convention) with cross-pose correlation available. This will encode the fact that the close image has lower relative pose covariance and does not get affected by Gauge ambiguity.
I found that some of my collaborators aren't aware of the pre-built Docker image. I think it would be helpful to mention it somewhere on the documentation's installation page.
A/B comparison against main branch. Changes mostly up to numerical noise
except for "meadow" as the usual outlier.
```
I20250217 19:45:49.373275 1782301 compare.py:main:58] Results A - B:
=====scenes===== ======AUC @ X deg (%)====== ===images=== =components=
0.5 1.0 5.0 10.0 reg all num largest
==============================eth3d=dslr==============================
botanical_garden -0.03 -0.02 -0.00 -0.00 0 0 0 0
boulders -0.01 -0.00 -0.00 -0.00 0 0 0 0
bridge 0.00 0.00 0.00 0.00 0 0 0 0
courtyard 0.01 0.00 0.00 0.00 0 0 0 0
delivery_area 0.00 0.00 0.00 0.00 0 0 0 0
door -0.00 -0.00 -0.00 -0.00 0 0 0 0
electro -0.03 -0.00 0.00 0.00 0 0 0 0
exhibition_hall 0.01 -0.02 -0.00 -0.00 0 0 0 0
facade -0.01 -0.01 -0.00 -0.00 0 0 0 0
kicker -0.04 -0.02 -0.00 -0.00 0 0 0 0
lecture_room 0.00 -0.00 -0.00 -0.00 0 0 0 0
living_room 0.03 0.02 0.00 0.00 0 0 0 0
lounge -0.03 -0.01 -0.00 -0.00 0 0 0 0
meadow -3.93 -2.52 -0.50 -0.25 0 0 0 0
observatory 0.00 0.00 0.00 0.00 0 0 0 0
office -0.03 -0.03 -0.01 -0.01 0 0 0 0
old_computer -0.68 -0.35 -0.08 -0.04 0 0 0 0
pipes 1.50 0.95 0.19 0.09 0 0 0 0
playground -0.03 -0.02 -0.00 -0.00 0 0 0 0
relief 0.03 0.02 0.00 0.00 0 0 0 0
relief_2 -0.00 -0.00 -0.00 -0.00 0 0 0 0
statue 0.00 0.00 0.00 0.00 0 0 0 0
terrace -0.04 -0.02 -0.00 -0.00 0 0 0 0
terrace_2 -0.00 -0.00 -0.00 -0.00 0 0 0 0
terrains 0.00 0.00 -0.00 -0.00 0 0 0 0
----------------------------------------------------------------------
overall -0.06 -0.03 -0.01 -0.00 0 0 0 0
----------------------------------------------------------------------
average -0.13 -0.08 -0.02 -0.01 0 0 0 0
```
…face (#3170) Now the name is too long. Creating this PR to initiate the thread. --------- Co-authored-by: Johannes Schönberger <jsch@demuc.de>
Towards supporting spherical / large FOV cameras for which a different logic will have to be implemented than for perspective projection models. The logic is now specialized and localized within the camera model and the user just knows about valid or invalid projections. This can also be used to more robustly deal with numerical issues in distortion computation (as we have for some of the fisheye models). The next PRs will do the equivalent for CamFromImg to return camera rays rather than image points as well as remove redundant "HasPointPositiveDepth/Cheirality" checks. --------- Co-authored-by: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com>
We got hit by the partial python version for the pycolmap CI build again: https://github.com/colmap/colmap/actions/runs/13519440475/job/37775195384 And I just realized that we are always building 3.8 rather than 3.12 on all the pycolmap ci build for pull requests. Was this intended? As it does not align with the comment here: https://github.com/colmap/colmap/blob/main/.github/workflows/build-pycolmap.yml#L35
Fix some code that result in maybe-uninitialized compiler warnings: - best_model in ransac and loransac can be uninitialized -> use optional, - initialize Eigen matrices to 0 in EstimateRigid3d and other similar functions. Also, don't turn the warning type off CMakeLists.txt. Unfortunately, there are 3 other such warnings that originate outside, namely in boost graph.
…ser/jsch/reconstruction-io-frames
Trying to compile colmap with gcc-14.2.1 leads to compilation errors in PoissonRecon third party library. These errors weren't visible before since it is a templated class, and these methods were never called, and hence never evaluated by the compiler to be correctly formed. Co-authored-by: Johannes Schönberger <jsch@demuc.de>
The Ubuntu 20.04 Actions runner image will be fully unsupported by 2025-04-01 and temporarily removed on March 4, 11, 18, 25: actions/runner-images#11101
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I added an e2e test for both the incremental and hierarchical pipelines. |
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Apr 15, 2025
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Add support for leveraging rig constraints in incremental mapping. Known TODOs (for follow-up PRs):