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Fix conversion of colmap pose prior #57

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Fix conversion of colmap pose prior #57

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2645de1
Fix conversion of colmap pose prior
ahojnnes Aug 12, 2024
2b4346e
d
ahojnnes Aug 12, 2024
a0dc97b
restore the pose prior after rotation averaging
lpanaf Aug 12, 2024
150f1cf
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lpanaf Aug 12, 2024
7b40ec8
Merge remote-tracking branch 'origin/main' into user/joschonb/pose-pr…
lpanaf Aug 26, 2024
34f27b5
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lpanaf Aug 26, 2024
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lpanaf Aug 26, 2024
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3 changes: 3 additions & 0 deletions glomap/estimators/global_rotation_averaging.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,9 @@ bool RotationEstimator::EstimateRotations(
image.cam_from_world.rotation = Eigen::Quaterniond(AngleAxisToRotation(
rotation_estimated_.segment(image_id_to_idx_[image_id], 3)));
}
// Restore the prior position (t = -Rc = R * R_ori * t_ori = R * t_ori)
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R * R_ori * t_ori = R * t_ori
The equation only holds when R_ori is identity.
However, EstimateRotations will be called twice in GlobalMapper::Solve.

image.cam_from_world.translation =
(image.cam_from_world.rotation * image.cam_from_world.translation);
}

return true;
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21 changes: 10 additions & 11 deletions glomap/io/colmap_converter.cc
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Expand Up @@ -184,14 +184,15 @@ void ConvertDatabaseToGlomap(const colmap::Database& database,
<< images_colmap.size() << std::flush;
counter++;

image_t image_id = image.ImageId();
const image_t image_id = image.ImageId();
if (image_id == colmap::kInvalidImageId) continue;
auto ite = images.insert(std::make_pair(
image_id, Image(image_id, image.CameraId(), image.Name())));
const colmap::PosePrior prior = database.ReadPosePrior(image_id);
if (prior.IsValid()) {
ite.first->second.cam_from_world = Rigid3d(
colmap::Rigid3d(Eigen::Quaterniond::Identity(), prior.position));
const colmap::Rigid3d world_from_cam_prior(Eigen::Quaterniond::Identity(),
prior.position);
ite.first->second.cam_from_world = Rigid3d(Inverse(world_from_cam_prior));
} else {
ite.first->second.cam_from_world = Rigid3d();
}
Expand All @@ -200,20 +201,18 @@ void ConvertDatabaseToGlomap(const colmap::Database& database,

// Read keypoints
for (auto& [image_id, image] : images) {
colmap::FeatureKeypoints keypoints = database.ReadKeypoints(image_id);

image.features.reserve(keypoints.size());
for (int i = 0; i < keypoints.size(); i++) {
image.features.emplace_back(
Eigen::Vector2d(keypoints[i].x, keypoints[i].y));
const colmap::FeatureKeypoints keypoints = database.ReadKeypoints(image_id);
const int num_keypoints = keypoints.size();
image.features.resize(num_keypoints);
for (int i = 0; i < num_keypoints; i++) {
image.features[i] = Eigen::Vector2d(keypoints[i].x, keypoints[i].y);
}
}

// Add the cameras
std::vector<colmap::Camera> cameras_colmap = database.ReadAllCameras();
for (auto& camera : cameras_colmap) {
camera_t camera_id = camera.camera_id;
cameras[camera_id] = camera;
cameras[camera.camera_id] = camera;
}

// Add the matches
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