Merge branch 'main' into lpanaf/migrate_colmap

Author: lpanaf

.github/workflows/install-ccache.ps1

@@ -4,10 +4,10 @@ param (
     [string] $Destination
 )
 
-$version = "4.8"
-$folder = "ccache-$version-windows-x86_64"
+$version = "4.10.2"
+$folder="ccache-$version-windows-x86_64"
 $url = "https://github.com/ccache/ccache/releases/download/v$version/$folder.zip"
-$expectedSha256 = "A2B3BAB4BB8318FFC5B3E4074DC25636258BC7E4B51261F7D9BEF8127FDA8309"
+$expectedSha256 = "6252F081876A9A9F700FAE13A5AEC5D0D486B28261D7F1F72AC11C7AD9DF4DA9"
 
 $ErrorActionPreference = "Stop"
 

.github/workflows/ubuntu.yml

@@ -16,7 +16,13 @@ jobs:
     strategy:
       matrix:
         config: [
-
+          {
+            os: ubuntu-24.04,
+            cmakeBuildType: RelWithDebInfo,
+            asanEnabled: false,
+            cudaEnabled: false,
+            checkCodeFormat: true,
+          },
           {
             os: ubuntu-22.04,
             cmakeBuildType: Release,
@@ -35,7 +41,7 @@ jobs:
             os: ubuntu-22.04,
             cmakeBuildType: Release,
             asanEnabled: true,
-            cudaEnabled: true,
+            cudaEnabled: false,
             checkCodeFormat: false,
           },
           {
@@ -62,14 +68,15 @@ jobs:
           key: v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.cmakeBuildType }}-${{ matrix.config.asanEnabled }}--${{ matrix.config.cudaEnabled }}-${{ github.run_id }}-${{ github.run_number }}
           restore-keys: v${{ env.COMPILER_CACHE_VERSION }}-${{ matrix.config.os }}-${{ matrix.config.cmakeBuildType }}-${{ matrix.config.asanEnabled }}--${{ matrix.config.cudaEnabled }}
           path: ${{ env.COMPILER_CACHE_DIR }}
-      
       - name: Install compiler cache
         run: |
           mkdir -p "$CCACHE_DIR" "$CTCACHE_DIR"
           echo "$COMPILER_CACHE_DIR/bin" >> $GITHUB_PATH
+
           if [ -f "$COMPILER_CACHE_DIR/bin/ccache" ]; then
             exit 0
           fi
+
           set -x
           wget https://github.com/ccache/ccache/releases/download/v4.8.2/ccache-4.8.2-linux-x86_64.tar.xz
           echo "0b33f39766fe9db67f40418aed6a5b3d7b2f4f7fab025a8213264b77a2d0e1b1  ccache-4.8.2-linux-x86_64.tar.xz" | sha256sum --check
@@ -81,26 +88,26 @@ jobs:
           echo "108b087f156a9fe7da0c796de1ef73f5855d2a33a27983769ea39061359a40fc  ${ctcache_commit_id}.zip" | sha256sum --check
           unzip "${ctcache_commit_id}.zip"
           mv ctcache-${ctcache_commit_id}/clang-tidy* "$COMPILER_CACHE_DIR/bin"
+
       - name: Check code format
         if: matrix.config.checkCodeFormat
         run: |
           set +x -euo pipefail
-          sudo apt-get update && sudo apt-get install -y clang-format-14 black
-          ./scripts/format/clang_format.sh
+          python -m pip install clang-format==19.1.0
+          ./scripts/format/c++.sh
           git diff --name-only
           git diff --exit-code || (echo "Code formatting failed" && exit 1)
+
       - name: Setup Ubuntu
         run: |
           sudo apt-get update && sudo apt-get install -y \
             build-essential \
             cmake \
             ninja-build \
             libboost-program-options-dev \
-            libboost-filesystem-dev \
             libboost-graph-dev \
             libboost-system-dev \
             libeigen3-dev \
-            libsuitesparse-dev \
             libceres-dev \
             libflann-dev \
             libfreeimage-dev \
@@ -116,7 +123,9 @@ jobs:
             libcgal-qt5-dev \
             libgl1-mesa-dri \
             libunwind-dev \
+            libcurl4-openssl-dev \
             xvfb
+
           if [ "${{ matrix.config.cudaEnabled }}" == "true" ]; then
             if [ "${{ matrix.config.os }}" == "ubuntu-20.04" ]; then
               sudo apt-get install -y \
@@ -134,16 +143,19 @@ jobs:
               echo "CUDAHOSTCXX=/usr/bin/g++-10" >> $GITHUB_ENV
             fi
           fi
+
           if [ "${{ matrix.config.asanEnabled }}" == "true" ]; then
             sudo apt-get install -y clang-15 libomp-15-dev
             echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
             echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
           fi
+
           if [ "${{ matrix.config.cmakeBuildType }}" == "ClangTidy" ]; then
             sudo apt-get install -y clang-15 clang-tidy-15 libomp-15-dev
             echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
             echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
           fi
+
       - name: Upgrade CMake
         run: |
           CMAKE_VERSION=3.28.6
@@ -152,6 +164,7 @@ jobs:
           tar -xzf ${CMAKE_DIR}.tar.gz
           sudo cp -r ${CMAKE_DIR}/* /usr/local/
           rm -rf ${CMAKE_DIR}*
+
       - name: Configure and build
         run: |
           set -x
@@ -167,6 +180,7 @@ jobs:
             -DTESTS_ENABLED=ON \
             -DASAN_ENABLED=${{ matrix.config.asanEnabled }}
           ninja -k 10000
+
       - name: Run tests
         if: ${{ matrix.config.cmakeBuildType != 'ClangTidy' }}
         run: |          
@@ -176,15 +190,17 @@ jobs:
           sleep 3
           cd build
           ctest --output-on-failure -E .+colmap_.*
+
       - name: Cleanup compiler cache
         run: |
           set -x
           ccache --show-stats --verbose
           ccache --evict-older-than 1d
           ccache --show-stats --verbose
+
           echo "Size of ctcache before: $(du -sh $CTCACHE_DIR)"
           echo "Number of ctcache files before: $(find $CTCACHE_DIR | wc -l)"
           # Delete cache older than 10 days.
           find "$CTCACHE_DIR"/*/ -mtime +10 -print0 | xargs -0 rm -rf
           echo "Size of ctcache after:  $(du -sh $CTCACHE_DIR)"
-          echo "Number of ctcache files after: $(find $CTCACHE_DIR | wc -l)"''
+          echo "Number of ctcache files after: $(find $CTCACHE_DIR | wc -l)"

.github/workflows/windows.yml

@@ -16,13 +16,6 @@ jobs:
     strategy:
       matrix:
         config: [
-          {
-            os: windows-2019,
-            cmakeBuildType: Release,
-            cudaEnabled: false,
-            testsEnabled: true,
-            exportPackage: false,
-          },
           {
             os: windows-2022,
             cmakeBuildType: Release,
@@ -44,18 +37,35 @@ jobs:
       COMPILER_CACHE_DIR: ${{ github.workspace }}/compiler-cache
       CCACHE_DIR: ${{ github.workspace }}/compiler-cache/ccache
       CCACHE_BASEDIR: ${{ github.workspace }}
-      VCPKG_COMMIT_ID: e01906b2ba7e645a76ee021a19de616edc98d29f
-      VCPKG_BINARY_SOURCES: "clear;x-gha,readwrite"
+      VCPKG_COMMIT_ID: bc3512a509f9d29b37346a7e7e929f9a26e66c7e
+      GLOG_v: 1
+      GLOG_logtostderr: 1
 
     steps:
       - uses: actions/checkout@v4
-
-      - name: Export GitHub Actions cache env
-        uses: actions/github-script@v7
-        with:
-          script: |
-            core.exportVariable('ACTIONS_CACHE_URL', process.env.ACTIONS_CACHE_URL || '');
-            core.exportVariable('ACTIONS_RUNTIME_TOKEN', process.env.ACTIONS_RUNTIME_TOKEN || '');
+      
+      # We define the vcpkg binary sources using separate variables for read and
+      # write operations:
+      # * Read sources are defined as inline. These can be read by anyone and,
+      #   in particular, pull requests from forks. Unfortunately, we cannot
+      #   define these as action environment variables. See:
+      #   https://github.com/orgs/community/discussions/44322
+      # * Write sources are defined as action secret variables. These cannot be
+      #   read by pull requests from forks but only from pull requests from
+      #   within the target repository (i.e., created by a repository owner).
+      #   This protects us from malicious actors accessing our secrets and
+      #   gaining write access to our binary cache. For more information, see:
+      #   https://securitylab.github.com/resources/github-actions-preventing-pwn-requests/
+      - name: Setup vcpkg binary cache
+        shell: pwsh
+        run: |
+          # !!!PLEASE!!! be nice and don't use this cache for your own purposes. This is only meant for CI purposes in this repository.
+          $VCPKG_BINARY_SOURCES = "clear;x-azblob,https://colmap.blob.core.windows.net/github-actions-cache,sp=r&st=2024-12-10T17:29:32Z&se=2030-12-31T01:29:32Z&spr=https&sv=2022-11-02&sr=c&sig=bWydkilTMjRn3LHKTxLgdWrFpV4h%2Finzoe9QCOcPpYQ%3D,read"
+          if ("${{ secrets.VCPKG_BINARY_CACHE_AZBLOB_URL }}") {
+            # The secrets are only accessible in runs triggered from within the target repository and not forks.
+            $VCPKG_BINARY_SOURCES += ";x-azblob,${{ secrets.VCPKG_BINARY_CACHE_AZBLOB_URL }},${{ secrets.VCPKG_BINARY_CACHE_AZBLOB_SAS }},write"
+          }
+          echo "VCPKG_BINARY_SOURCES=${VCPKG_BINARY_SOURCES}" >> "${env:GITHUB_ENV}"
 
       - name: Compiler cache
         uses: actions/cache@v4
@@ -70,11 +80,9 @@ jobs:
         run: |
           New-Item -ItemType Directory -Force -Path "${{ env.CCACHE_DIR }}"
           echo "${{ env.COMPILER_CACHE_DIR }}/bin" | Out-File -Encoding utf8 -Append -FilePath $env:GITHUB_PATH
-
           if (Test-Path -PathType Leaf "${{ env.COMPILER_CACHE_DIR }}/bin/ccache.exe") {
             exit
           }
-
           .github/workflows/install-ccache.ps1 -Destination "${{ env.COMPILER_CACHE_DIR }}/bin"
 
       - name: Install CUDA
@@ -86,9 +94,6 @@ jobs:
           sub-packages: '["nvcc", "nvtx", "cudart", "curand", "curand_dev", "nvrtc_dev"]'
           method: 'network'
 
-      - name: Install CMake and Ninja
-        uses: lukka/get-cmake@latest
-
       - name: Setup vcpkg
         shell: pwsh
         run: |
@@ -99,6 +104,12 @@ jobs:
           git reset --hard ${{ env.VCPKG_COMMIT_ID }}
           ./bootstrap-vcpkg.bat
 
+      - name: Install CMake and Ninja
+        uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: "3.31.0"
+          ninjaVersion: "1.12.1"
+
       - name: Configure and build
         shell: pwsh
         run: |

README.md

@@ -41,7 +41,7 @@ glomap mapper --database_path DATABASE_PATH --output_path OUTPUT_PATH --image_pa
 ```
 For more details on the command line interface, one can type `glomap -h` or `glomap mapper -h` for help.
 
-We also provide a guide on improving the obtained reconstruction, which can be found [here](docs/getting_started.md)
+We also provide a guide on improving the obtained reconstruction, which can be found [here](docs/getting_started.md).
 
 Note:
 - GLOMAP depends on two external libraries - [COLMAP](https://github.com/colmap/colmap) and [PoseLib](https://github.com/PoseLib/PoseLib).

cmake/FindDependencies.cmake

@@ -1,7 +1,10 @@
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 find_package(Eigen3 3.4 REQUIRED)
-find_package(SuiteSparse COMPONENTS CHOLMOD REQUIRED)
+find_package(CHOLMOD QUIET)
+if(NOT TARGET SuiteSparse::CHOLMOD)
+    find_package(SuiteSparse COMPONENTS CHOLMOD REQUIRED)
+endif()
 find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
 find_package(Boost REQUIRED)
 
@@ -44,6 +47,23 @@ message(STATUS "Configuring COLMAP...")
 set(UNINSTALL_ENABLED OFF CACHE INTERNAL "")
 if (FETCH_COLMAP)
     FetchContent_MakeAvailable(COLMAP)
+
+    # Define where to store the patch
+    set(COLMAP_PATCH_PATH ${CMAKE_BINARY_DIR}/fix_poisson.patch)
+
+    # Download the patch from GitHub
+    file(DOWNLOAD
+        https://github.com/colmap/colmap/commit/a586e7cb223cc86c609105246ecd3a10e0c55131.patch
+        ${COLMAP_PATCH_PATH}
+        SHOW_PROGRESS
+        STATUS PATCH_DOWNLOAD_STATUS
+    )
+    # Apply the patch
+    execute_process(
+        COMMAND git apply ${COLMAP_PATCH_PATH}
+        WORKING_DIRECTORY ${colmap_SOURCE_DIR}
+        RESULT_VARIABLE PATCH_RESULT
+    )
 else()
     find_package(COLMAP REQUIRED)
 endif()

docs/getting_started.md

@@ -44,3 +44,9 @@ retriangulation should already been performed.
 The number of global positioning and bundle adjustment iterations can be limited
 using the `--GlobalPositioning.max_num_iterations` and
 `--BundleAdjustment.max_num_iterations` options. 
+
+#### Enable GPU-based solver
+
+If Ceres 2.3 or above is installed and cuDSS is installed, GLOMAP supports GPU
+accelerated optimization. The process can be largely sped up with flags
+`--GlobalPositioning.use_gpu 1 --BundleAdjustment.use_gpu`.

docs/rotation_averager.md

@@ -50,8 +50,15 @@ The gravity direction file is expected to be of the following format
 ```
 IMAGE_NAME GX GY GZ
 ```
-The gravity direction $g$ should $[0, 1, 0]$ if the image is parallel to the ground plane, and the estimated rotation would have the property that $R_i \cdot [0, 1, 0]^\top = g$.
-If is acceptable if only a subset of all images have gravity direciton.
+The gravity direction $g$ should $[0, 1, 0]$ if the image is orthogonal to the ground plane, and the estimated rotation would have the property that $R_i \cdot [0, 1, 0]^\top = g$.
+More explicitly, suppose we can transpose a 3D point from the world coordinate to the image coordinate by RX + t = x. Here:
+- `R` is a 3x3 rotation matrix that aligns the world coordinate system with the image coordinate system.
+- `X` is a 3D point in the world coordinate system.
+- `t` is a 3x1 translation vector that shifts the world coordinate system to the image coordinate system.
+- `x` is the corresponding 3D point in the image coordinate system.
+The gravity direction should be the second column of the rotation matrix `R`.
+
+It is acceptable if only a subset of all images have gravity direction.
 If the specified image name does not match any known image name from relative pose, it is ignored.
 
 ### Output

glomap/estimators/bundle_adjustment.cc

@@ -249,6 +249,14 @@ void BundleAdjuster::ParameterizeVariables(
     }
   }
 
+  if (counter > 0) {
+    // Set the first camera to be fixed to remove the gauge ambiguity.
+    problem_->SetParameterBlockConstant(
+        images[center].cam_from_world.rotation.coeffs().data());
+    problem_->SetParameterBlockConstant(
+        images[center].cam_from_world.translation.data());
+  }
+
   // Parameterize the camera parameters, or set them to be constant if desired
   if (options_.optimize_intrinsics && !options_.optimize_principal_point) {
     for (auto& [camera_id, camera] : cameras) {

scripts/format/clang_format.sh scripts/format/c++.shscripts/format/clang_format.sh renamed to scripts/format/c++.sh

@@ -2,28 +2,9 @@
 
 # This script applies clang-format to the whole repository.
 
-# Find clang-format
-tools='
-  clang-format
-'
-
-clang_format=''
-for tool in ${tools}; do
-    if type -p "${tool}" > /dev/null; then
-        clang_format=$tool
-        break
-    fi
-done
-
-if [ -z "$clang_format" ]; then
-    echo "Could not locate clang-format"
-    exit 1
-fi
-echo "Found clang-format: $(which  ${clang_format})"
-
 # Check version
-version_string=$($clang_format --version | sed -E 's/^.*(\d+\.\d+\.\d+-.*).*$/\1/')
-expected_version_string='14.0.0'
+version_string=$(clang-format --version | sed -E 's/^.*(\d+\.\d+\.\d+-.*).*$/\1/')
+expected_version_string='19.1.0'
 if [[ "$version_string" =~ "$expected_version_string" ]]; then
     echo "clang-format version '$version_string' matches '$expected_version_string'"
 else
@@ -40,5 +21,4 @@ all_files=$( \
 num_files=$(echo $all_files | wc -w)
 echo "Formatting ${num_files} files"
 
-# Run clang-format
-${clang_format} -i $all_files
+clang-format -i $all_files