xiaobaiiiiii / colmap-pcd Goto Github PK

Image-to-point cloud Registration Tool

License: Other

CMake 1.67% Dockerfile 0.01% Shell 0.13% C 19.29% C++ 72.33% Cuda 3.89% MATLAB 0.34% Python 2.25% Batchfile 0.05% GLSL 0.03%

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colmap-pcd's Issues

support fisheye cameras

Thank you for your work. I would like to support fisheye cameras, do you think it is feasible?

how to ouput sparse reconstraction model

+── sparse
│ +── 0
│ │ +── cameras.bin
│ │ +── images.bin
│ │ +── points3D.bin

How to build pointcloud map?

Thank you for sharing the excellent results.
I want to try with a different sensor than the provided dataset. How can I create a map of high quality like the provided pointcloud map?

How to get colored pointcloud and Complete the step in Figure 9

Hi,Thanks for this good job!
I found in Figure 9 that you have shown a color point cloud to demonstrate the accuracy of image localization.
So I want to know how to get colored point clouds on paper? Which option is it on colmap pcd? Could you please

Feature Matching not Using GPU

Describe the bug
The feature matching process is running extremely slow because it does not use GPU. My GPU has zero load.

To Reproduce
Running feature matching on a machine with Nvidia GPU.

Expected behavior
Feature matching between two 1504x1504 images takes 7-8s.

Environment:

OS: Ubuntu 20.04
GPU: RTX 4090
Nvidia driver: 535
CUDA version: 12.1

图像数据处理

自制数据集测试colmap-pcd到底是一个什么样的流程？位姿文件什么时候保存？尝试了好几次都在保存位姿时闪退了

Could you support command line usage or give a example?

As we know, colmap supports using command line in terminal instead of GUI. Since I'm using remote server for developing, so I'd like to ask for an example of using ur method purely by command line in terminal instead of a gui. Thanks in advance!

About an error that occurred during initialization

Hi, thanks for this wonderful job!

I followed your instruction video on my dataset, and when I took the last step, the log displayed initialization failure.

Some of the information is shown below：

I tried the solutions it provided, however they didn't work.

The following image is a screenshot of my point cloud in the GUI.

How can I solve this problem?

Can colmap-pcd also generate transformers.json files like colmap?

Thanks for your great project!

For this issue,any ideas?

double free or corruption (out)

当我使用image25进行重建的时候,按照视频中的步骤,在点击 start reconstruction 按钮之后,出现了下面的报错:

li@li:~/Downloads$ colmap gui
libpng warning: iCCP: known incorrect sRGB profile
Gtk-Message: 16:22:53.978: GtkDialog mapped without a transient parent. This is discouraged.
Gtk-Message: 16:23:19.610: GtkDialog mapped without a transient parent. This is discouraged.
Gtk-Message: 16:23:40.619: GtkDialog mapped without a transient parent. This is discouraged.
Gtk-Message: 16:23:44.735: GtkDialog mapped without a transient parent. This is discouraged.
Gtk-Message: 16:24:40.324: GtkDialog mapped without a transient parent. This is discouraged.
Gtk-Message: 16:24:58.252: GtkDialog mapped without a transient parent. This is discouraged.
Gtk-Message: 16:31:20.058: GtkDialog mapped without a transient parent. This is discouraged.
E1215 16:32:55.414878 29141 trust_region_minimizer.cc:71] Terminating: Residual and Jacobian evaluation failed.
E1215 16:32:55.813428 29141 trust_region_minimizer.cc:71] Terminating: Residual and Jacobian evaluation failed.
E1215 16:32:56.109669 29141 trust_region_minimizer.cc:71] Terminating: Residual and Jacobian evaluation failed.
double free or corruption (out)
*** Aborted at 1702629176 (unix time) try "date -d @1702629176" if you are using GNU date ***
PC: @     0x7f2245f83e87 gsignal
*** SIGABRT (@0x3e800006e5a) received by PID 28250 (TID 0x7f2202cfe700) from PID 28250; stack trace: ***
    @     0x7f227f3ca980 (unknown)
    @     0x7f2245f83e87 gsignal
    @     0x7f2245f857f1 abort
    @     0x7f2245fce837 (unknown)
    @     0x7f2245fd58ba (unknown)
    @     0x7f2245fdce4a cfree
    @     0x55a1a9255ad9 _ZZN5ceres8internal15SchurEliminatorILin1ELin1ELin1EE14BackSubstituteERKNS0_21BlockSparseMatrixDataEPKdS7_S7_PdENKUliE_clEi
    @     0x55a1a910b2d3 ceres::internal::ParallelFor()
    @     0x55a1a924e757 ceres::internal::SchurEliminator<>::BackSubstitute()
    @     0x55a1a9163b35 ceres::internal::SchurComplementSolver::SolveImpl()
    @     0x55a1a916562f ceres::internal::TypedLinearSolver<>::Solve()
    @     0x55a1a912ddca ceres::internal::LevenbergMarquardtStrategy::ComputeStep()
    @     0x55a1a90faa65 ceres::internal::TrustRegionMinimizer::ComputeTrustRegionStep()
    @     0x55a1a90ff30b ceres::internal::TrustRegionMinimizer::Minimize()
    @     0x55a1a9087fe8 ceres::Solver::Solve()
    @     0x55a1a9088bd3 ceres::Solve()
    @     0x55a1a8aeb631 colmap::BundleAdjuster::Solve()
    @     0x55a1a8b72596 colmap::IncrementalMapper::AdjustGlobalBundleByLidar()
    @     0x55a1a8a2dee9 colmap::(anonymous namespace)::AdjustGlobalBundle()
    @     0x55a1a8a2e17f colmap::(anonymous namespace)::IterativeGlobalRefinement()
    @     0x55a1a8a2f06c colmap::IncrementalMapperController::Reconstruct()
    @     0x55a1a8a33133 colmap::IncrementalMapperController::Run()
    @     0x55a1a8bba38c colmap::Thread::RunFunc()
    @     0x7f2246bd86df (unknown)
    @     0x7f227f3bf6db start_thread
    @     0x7f224606661f clone
已放弃 (核心已转储)

Environment:

OS: Ubuntu 18.04
ldd colmap result:

li@li:~/Downloads$ ldd /usr/local/bin/colmap 
	linux-vdso.so.1 (0x00007ffe981e4000)
	libGLEW.so.2.0 => /usr/lib/x86_64-linux-gnu/libGLEW.so.2.0 (0x00007f236790f000)
	libpcl_io.so.1.10 => /usr/local/lib/libpcl_io.so.1.10 (0x00007f23674e7000)
	libpcl_common.so.1.10 => /usr/local/lib/libpcl_common.so.1.10 (0x00007f2367241000)
	libGL.so.1 => /usr/lib/x86_64-linux-gnu/libGL.so.1 (0x00007f2366fb5000)
	libflann.so.1.9 => /usr/lib/x86_64-linux-gnu/libflann.so.1.9 (0x00007f23668b9000)
	libfreeimage.so.3 => /usr/lib/x86_64-linux-gnu/libfreeimage.so.3 (0x00007f236660a000)
	libmetis.so.5 => /usr/lib/x86_64-linux-gnu/libmetis.so.5 (0x00007f236639c000)
	libglog.so.0 => /usr/lib/x86_64-linux-gnu/libglog.so.0 (0x00007f236616b000)
	libspqr.so.2 => /usr/lib/x86_64-linux-gnu/libspqr.so.2 (0x00007f2365f40000)
	libcholmod.so.3 => /usr/lib/x86_64-linux-gnu/libcholmod.so.3 (0x00007f2365c6a000)
	libcxsparse.so.3 => /usr/lib/x86_64-linux-gnu/libcxsparse.so.3 (0x00007f2365a3f000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f236583b000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f236561c000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f2365414000)
	libcublas.so.11 => /usr/local/cuda-11.1/lib64/libcublas.so.11 (0x00007f235cff8000)
	libcusolver.so.11 => /usr/local/cuda-11.1/lib64/libcusolver.so.11 (0x00007f2332ca2000)
	liblapack.so.3 => /usr/lib/x86_64-linux-gnu/liblapack.so.3 (0x00007f23323e3000)
	libf77blas.so.3 => /usr/lib/x86_64-linux-gnu/libf77blas.so.3 (0x00007f23321c1000)
	libsqlite3.so.0 => /usr/lib/x86_64-linux-gnu/libsqlite3.so.0 (0x00007f2331eb8000)
	libQt5Widgets.so.5 => /home/li/Qt5.9.9/5.9.9/gcc_64/lib/libQt5Widgets.so.5 (0x00007f2331684000)
	libQt5Gui.so.5 => /home/li/Qt5.9.9/5.9.9/gcc_64/lib/libQt5Gui.so.5 (0x00007f2330ed3000)
	libQt5Core.so.5 => /home/li/Qt5.9.9/5.9.9/gcc_64/lib/libQt5Core.so.5 (0x00007f233078c000)
	libCGAL.so.13 => /usr/lib/x86_64-linux-gnu/libCGAL.so.13 (0x00007f233056d000)
	libgmp.so.10 => /usr/lib/x86_64-linux-gnu/libgmp.so.10 (0x00007f23302ec000)
	libopencv_imgcodecs.so.405 => /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.405 (0x00007f2330089000)
	libopencv_imgproc.so.405 => /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.405 (0x00007f232e2fd000)
	libopencv_core.so.405 => /usr/lib/x86_64-linux-gnu/libopencv_core.so.405 (0x00007f232d108000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f232cd7f000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f232c9e1000)
	libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f232c7b2000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f232c59a000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f232c1a9000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f2368bb2000)
	libboost_filesystem.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.65.1 (0x00007f232bf8f000)
	libboost_iostreams.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.65.1 (0x00007f232bd75000)
	libboost_system.so.1.65.1 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1 (0x00007f232bb70000)
	libpcl_io_ply.so.1.10 => /usr/local/lib/libpcl_io_ply.so.1.10 (0x00007f232b914000)
	libpng16.so.16 => /usr/lib/x86_64-linux-gnu/libpng16.so.16 (0x00007f232b6e2000)
	libvtkIOLegacy-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkIOLegacy-6.3.so.6.3 (0x00007f232b43e000)
	libvtkIOPLY-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkIOPLY-6.3.so.6.3 (0x00007f232b224000)
	libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007f232b00c000)
	libOpenNI2.so.0 => /usr/lib/libOpenNI2.so.0 (0x00007f232adad000)
	libOpenNI.so.0 => /usr/lib/libOpenNI.so.0 (0x00007f232ab30000)
	libvtkIOGeometry-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkIOGeometry-6.3.so.6.3 (0x00007f232a819000)
	libvtkIOImage-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkIOImage-6.3.so.6.3 (0x00007f232a496000)
	libvtkIOCore-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkIOCore-6.3.so.6.3 (0x00007f232a223000)
	libvtkImagingCore-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkImagingCore-6.3.so.6.3 (0x00007f2329e53000)
	libvtkCommonExecutionModel-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-6.3.so.6.3 (0x00007f2329bac000)
	libvtkCommonDataModel-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-6.3.so.6.3 (0x00007f2329653000)
	libvtkCommonCore-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.3.so.6.3 (0x00007f2329133000)
	libGLX.so.0 => /usr/lib/x86_64-linux-gnu/libGLX.so.0 (0x00007f2328f02000)
	libGLdispatch.so.0 => /usr/lib/x86_64-linux-gnu/libGLdispatch.so.0 (0x00007f2328c4c000)
	libjxrglue.so.0 => /usr/lib/x86_64-linux-gnu/libjxrglue.so.0 (0x00007f2328a2c000)
	libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f23287c4000)
	libopenjp2.so.7 => /usr/lib/x86_64-linux-gnu/libopenjp2.so.7 (0x00007f232856d000)
	libraw.so.16 => /usr/lib/x86_64-linux-gnu/libraw.so.16 (0x00007f2328299000)
	libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f2328021000)
	libwebpmux.so.3 => /usr/lib/x86_64-linux-gnu/libwebpmux.so.3 (0x00007f2327e17000)
	libwebp.so.6 => /usr/lib/x86_64-linux-gnu/libwebp.so.6 (0x00007f2327bae000)
	libIlmImf-2_2.so.22 => /usr/lib/x86_64-linux-gnu/libIlmImf-2_2.so.22 (0x00007f23276ea000)
	libHalf.so.12 => /usr/lib/x86_64-linux-gnu/libHalf.so.12 (0x00007f23274a7000)
	libIex-2_2.so.12 => /usr/lib/x86_64-linux-gnu/libIex-2_2.so.12 (0x00007f2327289000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f232706c000)
	libgflags.so.2.2 => /usr/lib/x86_64-linux-gnu/libgflags.so.2.2 (0x00007f2326e47000)
	libunwind.so.8 => /usr/local/lib/libunwind.so.8 (0x00007f2326c2e000)
	libsuitesparseconfig.so.5 => /usr/lib/x86_64-linux-gnu/libsuitesparseconfig.so.5 (0x00007f2326a2b000)
	libblas.so.3 => /usr/lib/x86_64-linux-gnu/libblas.so.3 (0x00007f2326469000)
	libamd.so.2 => /usr/lib/x86_64-linux-gnu/libamd.so.2 (0x00007f2326260000)
	libcolamd.so.2 => /usr/lib/x86_64-linux-gnu/libcolamd.so.2 (0x00007f2326059000)
	libccolamd.so.2 => /usr/lib/x86_64-linux-gnu/libccolamd.so.2 (0x00007f2325e4f000)
	libcamd.so.2 => /usr/lib/x86_64-linux-gnu/libcamd.so.2 (0x00007f2325c45000)
	libcublasLt.so.11 => /usr/local/cuda-11.1/lib64/libcublasLt.so.11 (0x00007f2317c51000)
	libgfortran.so.4 => /usr/lib/x86_64-linux-gnu/libgfortran.so.4 (0x00007f2317872000)
	libatlas.so.3 => /usr/lib/x86_64-linux-gnu/libatlas.so.3 (0x00007f23172e9000)
	libicui18n.so.56 => /home/li/Qt5.9.9/5.9.9/gcc_64/lib/libicui18n.so.56 (0x00007f2316e50000)
	libicuuc.so.56 => /home/li/Qt5.9.9/5.9.9/gcc_64/lib/libicuuc.so.56 (0x00007f2316a98000)
	libicudata.so.56 => /home/li/Qt5.9.9/5.9.9/gcc_64/lib/libicudata.so.56 (0x00007f23150b5000)
	libgthread-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgthread-2.0.so.0 (0x00007f2314eb3000)
	libglib-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f2314b9c000)
	libbz2.so.1.0 => /lib/x86_64-linux-gnu/libbz2.so.1.0 (0x00007f231498c000)
	libvtksys-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtksys-6.3.so.6.3 (0x00007f2314746000)
	libvtkCommonMisc-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonMisc-6.3.so.6.3 (0x00007f2314530000)
	libudev.so.1 => /lib/x86_64-linux-gnu/libudev.so.1 (0x00007f2314312000)
	libtinyxml.so.2.6.2 => /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2 (0x00007f23140fd000)
	libvtkCommonSystem-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonSystem-6.3.so.6.3 (0x00007f2313ee9000)
	libvtkCommonTransforms-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-6.3.so.6.3 (0x00007f2313cbb000)
	libvtkmetaio-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkmetaio-6.3.so.6.3 (0x00007f2313a27000)
	libvtkDICOMParser-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkDICOMParser-6.3.so.6.3 (0x00007f231380f000)
	libvtkCommonMath-6.3.so.6.3 => /usr/lib/x86_64-linux-gnu/libvtkCommonMath-6.3.so.6.3 (0x00007f23135ef000)
	libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f23132b7000)
	libjpegxr.so.0 => /usr/lib/x86_64-linux-gnu/libjpegxr.so.0 (0x00007f2313083000)
	liblcms2.so.2 => /usr/lib/x86_64-linux-gnu/liblcms2.so.2 (0x00007f2312e2b000)
	liblzma.so.5 => /lib/x86_64-linux-gnu/liblzma.so.5 (0x00007f2312c05000)
	libjbig.so.0 => /usr/lib/x86_64-linux-gnu/libjbig.so.0 (0x00007f23129f7000)
	libIlmThread-2_2.so.12 => /usr/lib/x86_64-linux-gnu/libIlmThread-2_2.so.12 (0x00007f23127f0000)
	libquadmath.so.0 => /usr/lib/x86_64-linux-gnu/libquadmath.so.0 (0x00007f23125b0000)
	libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f231233f000)
	libxcb.so.1 => /usr/lib/x86_64-linux-gnu/libxcb.so.1 (0x00007f2312117000)
	libXau.so.6 => /usr/lib/x86_64-linux-gnu/libXau.so.6 (0x00007f2311f13000)
	libXdmcp.so.6 => /usr/lib/x86_64-linux-gnu/libXdmcp.so.6 (0x00007f2311d0d000)
	libbsd.so.0 => /lib/x86_64-linux-gnu/libbsd.so.0 (0x00007f2311af8000)

您知道是哪里的问题吗?

How to get colored pointcloud?

Hi,Thanks for this good job!
I found that you show the colored point cloud to prove the accuray of image localization.
So I want to know how to get colored point cloud in the paper?

Name conflit with original colmap

Name conflit with original colmap. Make install may overwrite each other.
Could you please provide a solution? Or anyone has ideas?

Fail to compile

Describe the bug
When I tried
make -j
An error occurred ,

nvcc fatal   : Unknown option '-fPIC'
nvcc fatal   : Unknown option '-fPIC'
nvcc fatal   : Unknown option '-fPIC'
make[2]: *** [src/CMakeFiles/colmap_cuda.dir/build.make:76: src/CMakeFiles/colmap_cuda.dir/mvs/gpu_mat_ref_image.cu.o] Error 1
make[2]: *** Waiting for unfinished jobs....
make[2]: *** [src/CMakeFiles/colmap_cuda.dir/build.make:63: src/CMakeFiles/colmap_cuda.dir/mvs/gpu_mat_prng.cu.o] Error 1
make[2]: *** [src/CMakeFiles/colmap_cuda.dir/build.make:102: src/CMakeFiles/colmap_cuda.dir/mvs/patch_match_cuda.cu.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:682: src/CMakeFiles/colmap_cuda.dir/all] Error 2
make: *** [Makefile:130: all] Error 2

What should I do to fix this problem?

Environment:

OS: Ubuntu 20.04
CUDA_version : 11.6

Image poses

Hello,
I would like to ask for your advice，
What coordinate system is the output images pose in, and what is its relationship with the point cloud.
I am trying to project the point cloud onto the image, but the result is not quite accurate.
I calculated the optical center, but the result is a bit strange.

How to redevelop the UI for Colmap

Hello, I am a beginner and I would like to know how to redevelop the UI for Colmap

Issue when compiling (make -j)

Hi. Thank you for your great work. When I attempted to install, in this step(make -j), I got the following error. Can you please help me to resolve this issue?
Ubuntu Version: 22.04

/usr/bin/ld: /usr/lib/x86_64-linux-gnu/libvtkCommonCore-9.1.so.9.1.0: undefined reference to `std::condition_variable::wait(std::unique_lockstd::mutex&)@GLIBCXX_3.4.30'
collect2: error: ld returned 1 exit status
make[2]: *** [src/exe/CMakeFiles/colmap_exe.dir/build.make:398: src/exe/colmap] Error 1
make[1]: *** [CMakeFiles/Makefile2:655: src/exe/CMakeFiles/colmap_exe.dir/all] Error 2
make: *** [Makefile:136: all] Error 2

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Open source projects and samples from Microsoft.
Google

Google ❤️ Open Source for everyone.
Alibaba

Alibaba Open Source for everyone
D3

Data-Driven Documents codes.
Tencent

China tencent open source team.