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

hiyyg / GlobalSfMpy