colmap-fusion-gps
Completion and Annotations : Improved COLMAP
- [x] colmap fusion gps ,reduce drift (Submitted in 2021)
- [x] feature scale determines the weight of BA
- [x] multi-data, such as depth and distance constrained BA
- [x] IDWM for two-view triangulation
- [x] Panoramic data splitting code (branch:postprocess_panorama)
- [x] Added panoramic camera model
- [x] learned-feature sfm builds long-term map
- [x] Map localization based on SIFT
- [ ] There will be more improvements later, and these are just the tip of the iceberg I showed (my motto is that explaining the source code is meaningless, only improvements are valuable work, long live photogrammetry!)
3年多前colmap fusion gps 完整代码，二期课程代码会基于这个branch
（1） feature scale 定权加入BA
（2） 多模态数据，如深度、距离约束BA
测试数据：https://drive.google.com/file/d/1GSZ9oPpWhCJ1ycLcv47_ZeWBXhFYUO8Z/view
见fusion-gps branch 分支
colmap fusion gps ,reduce drift !
this is original colmap run forward-facing data,scale drift !!!!!!!!!!!!!!!!!!
I add gps constraint in global bundle adjustment,obviously，the drift disappear！
I have simulated tunnels or no GPS, and my integrated GPS still performs well，like this!
常用数据集
1、ISPRS
https://www.isprs.org/education/benchmarks.aspx
2、sensefly
https://www.sensefly.com/education/datasets/
3、Kagaru
https://michaelwarren.info/docs/datasets/kagaru-airborne-stereo/
4、WHU
http://gpcv.whu.edu.cn/data/WHU_MVS_Stereo_dataset.html
5、KITTI
http://www.cvlibs.net/datasets/kitti/
6、ETH
https://www.eth3d.net/
7、realitycapture
https://www.capturingreality.com/SampleDatasets
8、视觉定位数据集
https://www.visuallocalization.net/datasets/
9、ODM
https://www.opendronemap.org/odm/datasets/
10、mve 官网的数据
https://www.gcc.tu-darmstadt.de/home/proj/ambient_point_clouds/apc.en.jsp
11、奥地利维也纳理工大学的Harvest4D项目(有GT）
https://harvest4d.org/?page_id=1367
12、自动化所偏古建筑
http://vision.ia.ac.cn/zh/data/index.html
13、blendedmvs
https://github.com/YoYo000/BlendedMVS
14、Drone Mapping
https://dronemapper.com/sample_data/
16、https://www.cs.cornell.edu/projects/bigsfm/#code bigsfm
17、http://brian.harrison.org/Photogrammetry/JemezHistoricalSite/BodyJemez.html
Last, thank you very much for the excellent work of the author(@ahojnnes) of colmap.Later,I will add feature scale constraint in bundle adjustment!!!!!