Glomap mapper with OPENCV_FISHEYE cameras error

[camille-dupont]

PS C:\Users\admin\workspace> .\colmap-x64-windows-cuda\bin\colmap.exe feature_extractor --database_path $DATASET_PATH\colmap\database.db --image_path $DATASET_PATH\images --ImageReader.camera_model OPENCV_FISHEYE --ImageReader.single_camera true

PS C:\Users\admin\workspace> .\colmap-x64-windows-cuda\bin\colmap.exe exhaustive_matcher --database_path $DATASET_PATH\colmap\database.db

PS C:\Users\admin\workspace> .\glomap-x64-windows\bin\glomap.exe mapper --database_path $DATASET_PATH\colmap\database.db --output_path $DATASET_PATH\glomap\
 Loading Images 196 / 196
 Loading Image Pair 19110 / 19110
I20250422 09:11:48.226776 57508 colmap_converter.cc:303] Pairs read done. 509 / 19110 are invalid
I20250422 09:11:48.236937 57508 global_mapper.cc:80] Loaded database
-------------------------------------
Running preprocessing ...
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I20250422 09:11:48.240877 57508 view_graph_manipulation.cc:246] Decompose relative pose for 0 pairs
I20250422 09:11:48.242522 57508 view_graph_manipulation.cc:295] Decompose relative pose done. 0 pairs are pure rotation
I20250422 09:11:48.242579 57508 timer.cc:87] Elapsed time: 0.00524 [seconds]
-------------------------------------
Running view graph calibration ...
-------------------------------------
I20250422 09:11:48.242731 57508 view_graph_calibration.cc:16] Start ViewGraphCalibrator
I20250422 09:11:48.339361 57508 view_graph_calibration.cc:155] 1 cameras are rejected in view graph calibration
I20250422 09:11:48.340812 57508 view_graph_calibration.cc:189] invalid / total number of two view geometry: 4 / 36228
-------------------------------------
Running relative pose estimation ...
-------------------------------------
I20250422 09:11:48.344593 57508 image_undistorter.cc:17] Undistorting images..
I20250422 09:11:48.370552 57508 image_undistorter.cc:37] Image undistortion done
I20250422 09:11:48.371982 57508 relpose_estimation.cc:24] Estimating relative pose for 18597 pairs
 Estimating relative pose: 0%
PS C:\Users\admin\workspace> echo $?
False
PS C:\Users\admin\workspace>

I get the same error with other dataset when I use OPENCV_FISHEYE.
I don't get this error with SIMPLE_RADIAL_FISHEYE and RADIAL_FISHEYE.

Environment :

OS : Windows 11  
nvcc : V11.8.89
CUDA Version : 12.7
Driver Version : 566.24

[lpanaf]

Hi @camille-dupont , sorry for the late reply. Have you tried to pull the newest version of the GLOMAP? Previously, for camera models only supported by COLMAP but not poselib (for example, OPENCV_FISHEYE), it would have undetermined behaviour. We have fixed this bug in #171

[camille-dupont]

Hi, okay, great, thanks. I will try with the updated version.