- Notifications
You must be signed in to change notification settings - Fork17
Vincentqyw/colmap-gps
Folders and files
| Name | Name | Last commit message | Last commit date | |
|---|---|---|---|---|
Repository files navigation
AddingGPS position prior to reconstruction inspired byopenMVG, the final model is the same scale with the prior position.
Note: You should firstly add pose (world to camera: qw qx qy qz tx ty tz) prior to database usescripts/python/add_db_pose_prior.py.
Before and after adding prior
| before | after |
|---|---|
 |  |
Two steps to use the GPS position prior: 1) estimate sim3 transformation between un-scaled model (camera positions) and corresponding priorsCODE HERE; 2) add costs to the scaled positions and GPS postionsCODE HERE andCODE HERE.
I usedcolmap (commit:866af28746d6500a97a241f9235e2730b2b90c29) as baseline code and defined a variableENABLE_POSITION_PRIOR to enable using position prior insrc/base/reconstruction.h, please check its references. If you don't use position prior, you can comment this definition.
COLMAP is a general-purpose Structure-from-Motion (SfM) and Multi-View Stereo(MVS) pipeline with a graphical and command-line interface. It offers a widerange of features for reconstruction of ordered and unordered image collections.The software is licensed under the new BSD license. If you use this project foryour research, please cite:
@misc{vincentqin2022colmapgps, author = {Vincent Qin}, title = {COLMAP with GPS Position Prior}, publisher = {GitHub}, journal = {GitHub repository}, howpublished = {\url{https://github.com/Vincentqyw/colmap-gps}} year = {2022},}@inproceedings{schoenberger2016sfm, author={Sch\"{o}nberger, Johannes Lutz and Frahm, Jan-Michael}, title={Structure-from-Motion Revisited}, booktitle={Conference on Computer Vision and Pattern Recognition (CVPR)}, year={2016},}@inproceedings{schoenberger2016mvs, author={Sch\"{o}nberger, Johannes Lutz and Zheng, Enliang and Pollefeys, Marc and Frahm, Jan-Michael}, title={Pixelwise View Selection for Unstructured Multi-View Stereo}, booktitle={European Conference on Computer Vision (ECCV)}, year={2016},}If you use the image retrieval / vocabulary tree engine, please also cite:
@inproceedings{schoenberger2016vote, author={Sch\"{o}nberger, Johannes Lutz and Price, True and Sattler, Torsten and Frahm, Jan-Michael and Pollefeys, Marc}, title={A Vote-and-Verify Strategy for Fast Spatial Verification in Image Retrieval}, booktitle={Asian Conference on Computer Vision (ACCV)}, year={2016},}The latest source code is available athttps://github.com/colmap/colmap. COLMAPbuilds on top of existing works and when using specific algorithms withinCOLMAP, please also cite the original authors, as specified in the source code.
Executables for Windows and Mac and other resources can be downloaded fromhttps://demuc.de/colmap/. Executables for Linux/Unix/BSD are available athttps://repology.org/metapackage/colmap/versions. To build COLMAP from source,please seehttps://colmap.github.io/install.html.
- Download the pre-built binaries fromhttps://demuc.de/colmap/ or build thelibrary manually as described in the documentation.
- Download one of the provided datasets athttps://demuc.de/colmap/datasets/or use your own images.
- Use theautomatic reconstruction to easily build modelswith a single click or command.
The documentation is available athttps://colmap.github.io/.
Please, use the COLMAP Google Group athttps://groups.google.com/forum/#!forum/colmap (colmap@googlegroups.com) forquestions and the GitHub issue tracker athttps://github.com/colmap/colmap forbug reports, feature requests/additions, etc.
The library was written by Johannes L. Schönberger (https://demuc.de/). Fundingwas provided by his PhD advisors Jan-Michael Frahm (http://frahm.web.unc.edu/)and Marc Pollefeys (https://people.inf.ethz.ch/pomarc/).
Contributions (bug reports, bug fixes, improvements, etc.) are very welcome andshould be submitted in the form of new issues and/or pull requests on GitHub.
The COLMAP library is licensed under the new BSD license. Note that this textrefers only to the license for COLMAP itself, independent of its dependencies,which are separately licensed. Building COLMAP with these dependencies mayaffect the resulting COLMAP license.
Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.All rights reserved.Redistribution and use in source and binary forms, with or withoutmodification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THEIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSEARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BELIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, ORCONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OFSUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESSINTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER INCONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THEPOSSIBILITY OF SUCH DAMAGE.Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)About
🌟 COLMAP + GPS Prior
Topics
Resources
License
Stars
Watchers
Forks
Packages0
Languages
- C64.9%
- C++31.5%
- Cuda1.9%
- Python0.9%
- CMake0.6%
- MATLAB0.1%
- Other0.1%