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colmap / glomap

GLOMAP - Global Structured-from-Motion Revisited
BSD 3-Clause "New" or "Revised" License
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glomap using pose_prior #109

Open starlordlxt opened 1 week ago

starlordlxt commented 1 week ago

When using pose prior with glomap, I input the world to camera poses and obtained very chaotic results.I first modified database.db with pose prior, then I used the command line: glomap mapper --database_path dataset/orb_data/distorted/database1.db --image_path dataset/orb_data/inputs --output_path dataset/orb_data/distorted/sparse --GlobalPositioning.optimize_positions 0 --constraint_type ONLY_POINTS 2024-09-22 18-47-42屏幕截图

I am very sure that my w2c is correct because I completed the sparse reconstruction using triangulation mode in colmap. Additionally, I switched my branch to /user/joschonb/pose-prior-fix. colmap point_triangulator --database_path distorted/database.db --image_path inputs --input_path distorted/sparse/1 --output_path distorted/sparse/2 2024-09-22 18-50-20屏幕截图

Tks! Looking forward to your advice!

lpanaf commented 1 week ago

Hi @starlordlxt, which version of GLOMAP are your running? The one in the main branch? If so, can you maybe checkout the one in the pull request? We put some fix there for this, and we would love to have your feedback

ahojnnes commented 1 week ago

@starlordlxt Please note that colmap now also has a prior-based incremental mapper (only a position prior) that could likely produce good results.