Awesome
GlobalSfMpy
This repo is the implementation of the paper "Revisiting Rotation Averaging: Uncertainties and Robust Losses".
If you find our code or paper useful, please cite
@inproceedings{zhang2023revisiting,
title={Revisiting Rotation Averaging: Uncertainties and Robust Losses},
author={Zhang, Ganlin and Larsson, Viktor and Barath, Daniel},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
pages={17215--17224},
year={2023}
}
Tested Environment
Ubuntu 22.04
Dependency
- TheiaSfM (Recommand version 0.7.0)
- Ceres (Recommand version 1.14.0)
- pybind11 (Recommand version 2.9.2)
- OpenCV
- (Optional) COLMAP (Recommand version 3.6)
Ceres
More details can be found on the Ceres official website
# install dependencies of Ceres Solver
sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
# download and install Ceres Solver
wget https://github.com/ceres-solver/ceres-solver/archive/refs/tags/1.14.0.tar.gz
tar zxf 1.14.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-1.14.0
make -j3
make install
TheiaSfM
More details can be found on the TheiaSfM official website
# install dependencies of Theia
sudo apt-get install libopenimageio-dev librocksdb-dev libatlas-base-dev rapidjson-dev libgtest-dev libyaml-cpp-dev
cd thirdparty/TheiaSfM
mkdir build && cd build
cmake ..
make -j4
sudo make install
PyBind11
git clone git@github.com:pybind/pybind11.git
cd pybind11 && mkdir build && cd build
cmake .. && make -j4
sudo make install
OpenCV
More details can be found on the OpenCV official website
# Install minimal prerequisites (Ubuntu 18.04 as reference)
sudo apt update && sudo apt install -y cmake g++ wget unzip
# Download and unpack sources
wget -O opencv.zip https://github.com/opencv/opencv/archive/4.x.zip
wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.x.zip
unzip opencv.zip
unzip opencv_contrib.zip
# Create build directory and switch into it
mkdir -p build && cd build
# Configure
cmake -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.x/modules ../opencv-4.x
# Build
cmake --build .
Install
mkdir build && cd build
cmake ..
make
Demo
1DSfM Madrid_Metropolis
cd script
python sfm_pipeline.py ../flags_1dsfm.yaml
ETH3D terrace
First, use COLMAP
extract the feature points and two-view matches. When extracting the feature, please use the PINHOLE
camera model. Here a bash script is provided to run COLMAP for extracting the two-view information:
Download the datasets from here and put the images inside the datasets/terrace/images
folder, i.e.
.
└── datasets
└── terrace
└── images
└── *.JPG
First change the colmap executable path in the script, then
cd script
bash colmapFeatureMatching.sh ../datasets/terrace
After running COLMAP, the sturcture of the dataset folder should be as following:
.
└── datasets
└── terrace
├── cameras.txt
├── colmap
│ ├── 0
│ │ ├── cameras.bin
│ │ ├── images.bin
│ │ ├── points3D.bin
│ │ └── project.ini
│ └── database.db
├── covariance_rot.txt
├── images
│ └── *.JPG
├── images.txt
├── points3D.txt
└── two_views.txt
Then, use GobalSfMpy to reconstruct the scene. The following commands are run inside script
folder.
python read_colmap_database.py --dataset_path ../datasets/terrace
python get_covariance_from_colmap.py --dataset_path ../datasets/terrace
python sfm_with_colmap_feature.py --dataset_path ../datasets/terrace
The reconstruction is stored in output
folder. The format of the result is the same as what it is in TheiaSfM. The Theia application view_reconstruction
can be used to visualize the result.
./view_reconstruction --reconstruction <RESULT_FILE>
E.g. For 1DSfM Madrid_Metropolis
./thirdparty/TheiaSfM/build/bin/view_reconstruction --reconstruction output/Madrid_Metropolis
Example visualization of the output of 1DSfM Madrid_Metropolis
:
Example visualization of the output of ETH3D terrace