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naver / kapture-localization

Provide mapping and localization pipelines based on kapture format
BSD 3-Clause "New" or "Revised" License
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colmap_gv does not work. #32

Closed JSP-ywu closed 1 year ago

JSP-ywu commented 2 years ago

Hi ! I have an issue about [kapture_run_colmap_gv.py]() Here is the entire error log.

INFO    ::root: mapping and localization for 20220825-123634.769-9c~9d-Tr/stage_1/images/0089_0089_frame_005406.png
INFO    ::kapture: deleting already existing /home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/colmap.db
INFO    ::kapture: deleting already existing /home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/reconstruction
INFO    ::kapture: deleting already existing /home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/priors_for_reconstruction
INFO    ::colmap_build_map: Using precomputed keypoints and matches
INFO    ::colmap_build_map: Step 1: Export kapture format to colmap
INFO    ::colmap: registering 1 sensors (cameras) in database...
INFO    ::colmap: registering 30 images in database...
INFO    ::colmap: registering 30 keypoints in database...
INFO    ::colmap: registering 435 matches in database...
INFO    ::colmap_build_map: Step 2: Run geometric verification - skipped
INFO    ::colmap_build_map: Step 3: Exporting priors for reconstruction.
INFO    ::colmap: creating colmap cameras.txt
INFO    ::colmap: creating colmap images.txt
DEBUG   ::root: timestamp:4859 not in trajectories
DEBUG   ::root: timestamp:4721 not in trajectories
INFO    ::root: creating colmap points3D.txt
INFO    ::colmap_build_map: Step 4: Triangulation
INFO    ::colmap: ['colmap', 'point_triangulator', '--database_path', '/home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/colmap.db', '--image_path', '/home/pjs4073/h4tech_result_8000_30/kapture_inputs/proxy_map_plus_query_gv/sensors/records_data', '--input_path', '/home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/priors_for_reconstruction', '--output_path', '/home/pjs4073/h4tech_result_8000_30/local_sfm/colmap/reconstruction']

==============================================================================
Loading model
==============================================================================

==============================================================================
Loading database
==============================================================================

Loading cameras... 1 in 0.000s
Loading matches... 435 in 0.007s
Loading images... 30 in 0.014s (connected 30)
Building correspondence graph... in 0.079s (ignored 0)

Elapsed time: 0.002 [minutes]

==============================================================================
Triangulating image #2 (0)
==============================================================================

  => Image sees 0 / 7484 points
  => Triangulated 0 points

==============================================================================
Triangulating image #3 (1)
==============================================================================

  => Image sees 0 / 7323 points
  => Triangulated 0 points

==============================================================================
Triangulating image #4 (2)
==============================================================================

  => Image sees 0 / 7860 points
  => Triangulated 0 points

==============================================================================
Triangulating image #5 (3)
==============================================================================

  => Image sees 0 / 7593 points
  => Triangulated 0 points

==============================================================================
Triangulating image #6 (4)
==============================================================================

  => Image sees 0 / 7453 points
  => Triangulated 0 points

==============================================================================
Triangulating image #7 (5)
==============================================================================

  => Image sees 0 / 7352 points
  => Triangulated 0 points

==============================================================================
Triangulating image #8 (6)
==============================================================================

  => Image sees 0 / 7513 points
  => Triangulated 0 points

==============================================================================
Triangulating image #9 (7)
==============================================================================

  => Image sees 0 / 6988 points
  => Triangulated 0 points

==============================================================================
Triangulating image #10 (8)
==============================================================================

  => Image sees 0 / 7724 points
  => Triangulated 0 points

==============================================================================
Triangulating image #11 (9)
==============================================================================

  => Image sees 0 / 7210 points
  => Triangulated 0 points

==============================================================================
Triangulating image #12 (10)
==============================================================================

  => Image sees 0 / 7501 points
  => Triangulated 0 points

==============================================================================
Triangulating image #13 (11)
==============================================================================

  => Image sees 0 / 6804 points
  => Triangulated 0 points

==============================================================================
Triangulating image #14 (12)
==============================================================================

  => Image sees 0 / 8133 points
  => Triangulated 0 points

==============================================================================
Triangulating image #15 (13)
==============================================================================

  => Image sees 0 / 6666 points
  => Triangulated 0 points

==============================================================================
Triangulating image #17 (14)
==============================================================================

  => Image sees 0 / 6714 points
  => Triangulated 0 points

==============================================================================
Triangulating image #18 (15)
==============================================================================

  => Image sees 0 / 7715 points
  => Triangulated 0 points

==============================================================================
Triangulating image #19 (16)
==============================================================================

  => Image sees 0 / 3140 points
  => Triangulated 0 points

==============================================================================
Triangulating image #20 (17)
==============================================================================

  => Image sees 0 / 7571 points
  => Triangulated 0 points

==============================================================================
Triangulating image #21 (18)
==============================================================================

  => Image sees 0 / 7784 points
  => Triangulated 0 points

==============================================================================
Triangulating image #22 (19)
==============================================================================

  => Image sees 0 / 7340 points
  => Triangulated 0 points

==============================================================================
Triangulating image #23 (20)
==============================================================================

  => Image sees 0 / 6405 points
  => Triangulated 0 points

==============================================================================
Triangulating image #24 (21)
==============================================================================

  => Image sees 0 / 3621 points
  => Triangulated 0 points

==============================================================================
Triangulating image #25 (22)
==============================================================================

  => Image sees 0 / 7095 points
  => Triangulated 0 points

==============================================================================
Triangulating image #26 (23)
==============================================================================

  => Image sees 0 / 7108 points
  => Triangulated 0 points

==============================================================================
Triangulating image #27 (24)
==============================================================================

  => Image sees 0 / 7642 points
  => Triangulated 0 points

==============================================================================
Triangulating image #28 (25)
==============================================================================

  => Image sees 0 / 6712 points
  => Triangulated 0 points

==============================================================================
Triangulating image #29 (26)
==============================================================================

  => Image sees 0 / 7474 points
  => Triangulated 0 points

==============================================================================
Triangulating image #30 (27)
==============================================================================

  => Image sees 0 / 3821 points
  => Triangulated 0 points

==============================================================================
Retriangulation
==============================================================================

  => Merged observations: 0
  => Completed observations: 0

==============================================================================
Bundle adjustment
==============================================================================

F0923 12:08:26.304461 307235 colmap.cc:1573] Check failed: bundle_adjuster.Solve(&reconstruction) 
*** Check failure stack trace: ***
    @     0x7fc2c569c1c3  google::LogMessage::Fail()
    @     0x7fc2c56a125b  google::LogMessage::SendToLog()
    @     0x7fc2c569bebf  google::LogMessage::Flush()
    @     0x7fc2c569c6ef  google::LogMessageFatal::~LogMessageFatal()
    @     0x558c922aa280  RunPointTriangulator()
    @     0x558c922a1eaf  main
    @     0x7fc2c3a9c083  __libc_start_main
    @     0x558c922a5f6e  _start
INFO    ::root: 20220825-123634.769-9c~9d-Tr/stage_1/images/0089_0089_frame_005406.png was not localized

I ran local sfm, so the number of matched images is 31. The feature matching process is going well, but the triangulation is problem. How can I resolve this problem?

humenbergerm commented 1 year ago

Sorry this comes very late. It seems like you do not have enough matches. 435 matches for 30 images is extremely low. That's why colmap cannot triangulate 3D points and crashes.