Tags: colmap/glomap
Tags
Add rig support and upgrade colmap to version 3.12 (#201) * rigged global positioning. Not debugged yet * compilation debugged * the rigged GP debugged * debug code * dbugging rig GP * rig rotation averaging implemented * minor * rigged bundle adjustment * rigged pipeline * largest connect componenet establishment with rigs * test entry point * remove unnecessary dependency * add support for relative pose estimation only * change the snapshot logic * minor * migrate to COLMAP 3..12 (with rig support) * refactor rotation averaging. RIGGED version not working yet * d * rigged rotation averaging debugged. The convergence is poor. * rigged global positioning * minor * add stratefied rotation averaging for initialization * rotation initializer * gravity refinement with rig support * unit test for mapper. Include additional non-trivial rig test * unit test for RA. Add test for rig support * add gravity aligned RA for rigs * move the gravity property to frames * add frame struct * pose io with gravity support * d * remove the old version * rename the rigged version back to normal * name back the rigged version to default * normalization with rig support * cleanup and add support for cam-to-cam constraints * add reconstruction normalization * cleanup * f * d * d * f * d * d * d * d * d * skip unconnected images * f * Update glomap/controllers/global_mapper.cc Co-authored-by: Johannes Schönberger <[email protected]> * Update glomap/controllers/global_mapper.cc Co-authored-by: Johannes Schönberger <[email protected]> * renaming * remove redundant files * temp cam_from_world * change version match to only consider the first two numbers * changed todo * renaming * refactor the code so the is_registered is a frame property * formulate the pruning with respect to frames * m * f * d * d * Update to latest colmap and poselib * Update glomap/estimators/cost_function.h Co-authored-by: Johannes Schönberger <[email protected]> * Update glomap/estimators/gravity_refinement.cc Co-authored-by: Johannes Schönberger <[email protected]> * Update glomap/estimators/gravity_refinement.cc Co-authored-by: Johannes Schönberger <[email protected]> * address minor issues * clean up * f * d * cleanup * expose optimize_rig_poses in cli * fix the bug for the reconstruction output when there are more than 1 cluster * f * make pair_id consistent with colmap * fix the bug for ba with rig calibration * f * f * stablize the reconstruction by removing nearly degenerate points * d * d * d * d * d * d * d * d * d * d * d * d --------- Co-authored-by: Johannes Schönberger <[email protected]> Co-authored-by: Johannes Schönberger <[email protected]>
improved readme (#194) * improved readme * Update docs/rotation_averager.md Co-authored-by: Copilot <[email protected]> * Update docs/getting_started.md Co-authored-by: Copilot <[email protected]> * Update docs/rotation_averager.md Co-authored-by: Copilot <[email protected]> * Update docs/getting_started.md Co-authored-by: Johannes Schönberger <[email protected]> * Update docs/getting_started.md Co-authored-by: Johannes Schönberger <[email protected]> --------- Co-authored-by: Copilot <[email protected]> Co-authored-by: Johannes Schönberger <[email protected]>