Awesome
ColmapForVisSatPatched
This repository uses git patch
to implement ColmapForVisSat. Since ColmapForVisSat
is a full copy of Colmap, it is difficult to maintain. By relying on git apply <patch>
this repository offers a simpler approach to incorporate the latest changes of the original Colmap
library.
Compatibility
In contrast to the original ColmapForVisSat library, this repository supports CUDA 11.
Apply a set of satellite specific patch files to the original Colmap repository
Define two (temporary) variables storing the the repository locations on disk:
PathToColmapForVisSatPatched="path/to/ColmapForVisSatPatched"
PathToColmapToBePatched="path/to/ColmapToBePatched"
Clone the repositories:
git clone https://github.com/SBCV/ColmapForVisSatPatched.git $PathToColmapForVisSatPatched
git clone https://github.com/colmap/colmap.git $PathToColmapToBePatched
Checkout the Colmap version compatible to the current patch files with:
cd $PathToColmapToBePatched
# Current patch files are created for 31df46c6c82bbdcaddbca180bc220d2eab9a1b5e (Mar 5, 2022)
git checkout 31df46c6c82bbdcaddbca180bc220d2eab9a1b5e
Ensure that apply_patches.sh
has execute permissions (ls -l $PathToColmapForVisSatPatched/apply_patches.sh
) - for example by running:
chmod +x $PathToColmapForVisSatPatched/apply_patches.sh
Finally, apply the satellite specific patches with:
$PathToColmapForVisSatPatched/apply_patches.sh $PathToColmapToBePatched
Note: Do NOT run apply_patches.sh
with sh $PathToColmapForVisSatPatched/apply_patches.sh
- this will not produce the required results! Do not worry about type warnings (e.g. warning: src/base/camera.cc has type 100644, expected 100755
).
Build the patched Colmap repository
- Run
sudo apt-get install libmetis-dev
- If anaconda/miniconda is installed, make sure to run
conda deactivate
before runningcmake
. - Follow the official install insctructions of Colmap for Linux.
For contributors/developers: Create a set of new patch files for the latest Colmap version
If you want to create patch files for a more recent Colmap version, you may want to use the following approach:
First define some (temporary) environment variables:
PathToColmapForVisSatPatched="/path/to/ColmapForVisSatPatched"
PathToColmapLatest="path/to/ColmapLatest"
Clone the repositories:
git clone https://github.com/SBCV/ColmapForVisSatPatched.git $PathToColmapForVisSatPatched
git clone https://github.com/colmap/colmap.git $PathToColmapLatest
cd $PathToColmapLatest
If desired checkout a specific commit - for example:
git checkout 31df46c6c82bbdcaddbca180bc220d2eab9a1b5e
Try to apply the patches (this will probably not succeed, but it will show for which files the application of the corresponding patch failed).
$PathToColmapForVisSatPatched/apply_patches.sh $PathToColmapLatest
Example error:
error: patch failed: src/base/cost_functions.h:267
error: src/base/cost_functions.h: patch does not apply
Use Github to view the corresponding patch file (e.g. src__base__cost_functions.h.patch) - it will highlight the required additions in green. Copy the desired changes (i.e. the green parts) to corresponding place in the source code in $PathToColmapLatest
! (e.g. cost_functions.h)
Open $PathToColmapForVisSatPatched/create_patches.sh
and comment out all lines git diff ...
for which the application of the patch worked in the previous run.
Run the modified create_patches.sh
script. It will create a new set of patches in $PathToColmapForVisSatPatched/patches
overwriting previously outdated patches.
$PathToColmapForVisSatPatched/create_patches.sh $PathToColmapLatest
Non-trivial conversion notes
Inconsistencies
-
src/base/reconstruction.cc
-->Reconstruction::Normalize()
-->if (translation_applied && scale_applied) {
- add
const Eigen::Vector3d mean_coord = std::get<2>(bound);
const Eigen::Vector3d translation = mean_coord;
- add
-
src/controllers/bundle_adjustment.cc
-->void BundleAdjustmentController::Run() {
-->- can not uncomment
reconstruction_->Normalize();
, since line does not exist. - => uncomment
reconstruction_->Normalize();
insrc/ui/bundle_adjustment_widget.cc
- keep
reconstruction_->Normalize();
insrc/sfm/incremental_mapper.cc
, since these are not touched in the adapted colmap version
- can not uncomment
Obsolete ? (TODO)
- src/base/reconstruction.cc --> void Reconstruction::WriteCamerasText() --> file << std::setprecision(PRECISION);
- src/base/reconstruction.cc --> void Reconstruction::WriteCamerasText() --> line << std::setprecision(PRECISION);
- src/base/reconstruction.cc --> void Reconstruction::WriteImagesText() --> file << std::setprecision(PRECISION);
- src/base/reconstruction.cc --> void Reconstruction::WriteImagesText() --> line << std::setprecision(PRECISION);
- src/base/reconstruction.cc --> void Reconstruction::WritePoints3DText() --> file << std::setprecision(PRECISION);
- src/base/reconstruction.cc --> void Reconstruction::WritePoints3DText() --> line << std::setprecision(PRECISION);
- src/mvs/math.h
Questionable Changes (TODO)
src/mvs/patch_match_cuda.cu
--> Deletedreturn
in line 181/385