Skip to content

Relpose estimation bug fix #171

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
lpanaf merged 3 commits into from
Mar 20, 2025
Merged

Relpose estimation bug fix #171

Changes from 1 commit
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
f2acb9c
fix the bug that relative pose estimation fails when camera model is …
lpanaf Mar 4, 2025
12630f1
Merge branch 'main' of github.com:colmap/glomap into lpanaf/fix_camer…
lpanaf Mar 13, 2025
ecddd5e
allow the focal length to be different for unrecognized camera type
lpanaf Mar 13, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
47 changes: 37 additions & 10 deletions glomap/estimators/relpose_estimation.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -44,26 +44,53 @@ void EstimateRelativePoses(ViewGraph& view_graph,
const Image& image2 = images[image_pair.image_id2];
const Eigen::MatrixXi& matches = image_pair.matches;

const Camera& camera1 = cameras[image1.camera_id];
const Camera& camera2 = cameras[image2.camera_id];
poselib::Camera camera_poselib1 = ColmapCameraToPoseLibCamera(camera1);
poselib::Camera camera_poselib2 = ColmapCameraToPoseLibCamera(camera2);
bool valid_camera_model =
(camera_poselib1.model_id >= 0 && camera_poselib2.model_id >= 0);

// Collect the original 2D points
points2D_1.clear();
points2D_2.clear();
for (size_t idx = 0; idx < matches.rows(); idx++) {
points2D_1.push_back(image1.features[matches(idx, 0)]);
points2D_2.push_back(image2.features[matches(idx, 1)]);
}

// If the camera model is not supported by poselib
if (!valid_camera_model) {
// Undistort points
// Note that here, we still rescale by the focal length (to avoid
// change the RANSAC threshold)
for (size_t idx = 0; idx < matches.rows(); idx++) {
points2D_1[idx] =
camera1.Focal() * camera1.CamFromImg(points2D_1[idx]);
points2D_2[idx] =
camera2.Focal() * camera2.CamFromImg(points2D_2[idx]);
}
// Reset the camera to be the pinhole camera with original focal
// length and zero principal point
camera_poselib1 = poselib::Camera("SIMPLE_PINHOLE",
Copy link
Contributor

@ahojnnes ahojnnes Mar 13, 2025

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

It will be better to use "PINHOLE" and support separate focal length for x and y here?

{camera1.Focal(), 0., 0.},
camera1.width,
camera1.height);
camera_poselib2 = poselib::Camera("SIMPLE_PINHOLE",
{camera2.Focal(), 0., 0.},
camera2.width,
camera2.height);
}
inliers.clear();
poselib::CameraPose pose_rel_calc;
try {
poselib::estimate_relative_pose(
points2D_1,
points2D_2,
ColmapCameraToPoseLibCamera(cameras[image1.camera_id]),
ColmapCameraToPoseLibCamera(cameras[image2.camera_id]),
options.ransac_options,
options.bundle_options,
&pose_rel_calc,
&inliers);
poselib::estimate_relative_pose(points2D_1,
points2D_2,
camera_poselib1,
camera_poselib2,
options.ransac_options,
options.bundle_options,
&pose_rel_calc,
&inliers);
} catch (const std::exception& e) {
LOG(ERROR) << "Error in relative pose estimation: " << e.what();
image_pair.is_valid = false;
Expand Down
Loading