Oreki718
commented
1 month ago Debug了一下，发现covisibility matching 导出的 frame_pairs 数量为0 root@ea34e28b2deb:/home/xrsfm# ./bin/run_reconstruction /home/xrsfm/data/IMG_0108/ /home/xrsfm/data/IMG_0108/camera_colmap.txt /home/xrsfm/data/IMG_0108/ 0 1 Read Config Done! ReadFramePairs Number of frames: 276 Number of frame pairs: 0 PreProcess Done! Init with Given Frames 0 1 NO SUCH FRAME PAIR Found Init Frame Pair Done! Initialize id1: 0 0001.png id2: 0 0001.png Segmentation fault (core dumped)
大佬好，我在我自己的数据上尝试按照指示的方式进行基于 covisibility matching 的重建，结果显示重建失败。retrieval 文件已经按照 https://github.com/openxrlab/xrlocalization/blob/main/docs/en/tutorials/generate_image_pairs.md 进行了生成，并且在 retireval matching 成功生成了正确的重建效果。camera_colmap 由colmap重建校准生成，在 sequence 和 retrieval 下验证可用。
root@ea34e28b2deb:/home/xrsfm# ./bin/run_matching /home/xrsfm/data/IMG_0108/images/ /home/xrsfm/data/IMG_0108/pair.txt covisibility /home/xrsfm/data/IMG_0108/ Load Image Info Done. Extract Features Done. Load Retrieval Info Done. matched image pairs: 843/893 Init Matching Done. init: 843 893 ////////Iter (0)///////// frame number cov_1: 275 cov_30: 193 cov_100:190
covisiblity candidates: 826
full candidates: 826
filtered candidates: 826
matched image pairs: 1387/826 expansion: 826 1387 1719 precision: 80.6864 Time searching 0.138655s Time matching 0.256098s ////////Iter (1)///////// frame number cov_1: 275 cov_30: 203 cov_100:199
covisiblity candidates: 189
full candidates: 189
filtered candidates: 189
matched image pairs: 1446/189 expansion: 189 1446 1908 precision: 75.7862 Time searching 0.289261s Time matching 0.389230s ////////Iter (2)///////// frame number cov_1: 275 cov_30: 257 cov_100:247
covisiblity candidates: 399
full candidates: 414
filtered candidates: 414
matched image pairs: 1706/414 expansion: 414 1706 2322 precision: 73.4711 Time searching 0.449550s Time matching 0.607309s ////////Iter (3)///////// frame number cov_1: 275 cov_30: 266 cov_100:259
covisiblity candidates: 142
full candidates: 142
filtered candidates: 142
matched image pairs: 1720/142 expansion: 142 1720 2464 precision: 69.8052 Time searching 0.615087s Time matching 0.729682s ////////Iter (4)///////// frame number cov_1: 275 cov_30: 274 cov_100:266
covisiblity candidates: 82
full candidates: 82
filtered candidates: 82
matched image pairs: 1730/82 expansion: 82 1730 2546 precision: 67.9497 Time searching 0.780787s Time matching 0.823036s 1.890187 s root@ea34e28b2deb:/home/xrsfm# ./bin/run_reconstruction /home/xrsfm/data/IMG_0108/ /home/xrsfm/data/IMG_0108/camera_colmap.txt /home/xrsfm/data/IMG_0108/ Read Config Done! ReadFramePairs PreProcess Done! Found Init Frame Pair -1 -1 276 Fail to Find Frame Pair!!!
调整初始pair后出错 root@ea34e28b2deb:/home/xrsfm# ./bin/run_reconstruction /home/xrsfm/data/IMG_0108/ /home/xrsfm/data/IMG_0108/camera_colmap.txt /home/xrsfm/data/IMG_0108/ 0 1 Read Config Done! ReadFramePairs PreProcess Done! Init with Given Frames 0 1 NO SUCH FRAME PAIR Found Init Frame Pair Done! Initialize id1: 0 0001.png id2: 0 0001.png Segmentation fault (core dumped)