Update rerun.io glomap fork to latest glomap, rerun SDK#5
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rerun-rmack wants to merge 46 commits intorerun-io:mainfrom
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Update rerun.io glomap fork to latest glomap, rerun SDK#5rerun-rmack wants to merge 46 commits intorerun-io:mainfrom
rerun-rmack wants to merge 46 commits intorerun-io:mainfrom
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* Fixes for Windows build * f
* Update README.md * update CI pipelines * add install-ccache.ps1 * d * d * directly find suitesparse (before assume Ceres achieve this) * try removing the direct linking of CHOLMOD library * add vcpkg.json * remove unnecessary features * d * remove requirement for cuda * d * d * d * d * D * d * d * d * d * d * d * d * d * d * d * d * d * d * d * d * d * d * d --------- Co-authored-by: Linfei Pan <36349740+lpanaf@users.noreply.github.com> Co-authored-by: lpanaf <linpan@student.ethz.ch>
…ap#51) * More content for documentation about visualization and recommended settings * Update README.md --------- Co-authored-by: Linfei Pan <36349740+lpanaf@users.noreply.github.com>
…ing (colmap#59) * Fix invalid reference to scales auxiliary variable in global positioning * d
* Robustly handle undistortion failures * f * d * f --------- Co-authored-by: Linfei Pan <linpan@student.ethz.ch>
…p#63) * Add complete installation guide for COLMAP and GLOMAP on macOS * Update INSTALL_MAC.md --------- Co-authored-by: Linfei Pan <36349740+lpanaf@users.noreply.github.com>
* fix bug caused by negative weight when calculating mst * Apply suggestion Co-authored-by: Johannes Schönberger <jsch@demuc.de> --------- Co-authored-by: Johannes Schönberger <jsch@demuc.de>
colmap#99) * fix: vector out of bounds in ViewGraph::KeepLargestConnectedComponents * fix: return GlobalMapper::Solve when no connected components
* Use colmap thread pool to simplify mac installation * d * d * d * d
* Update to COLMAP HEAD * Bump COLMAP tag * Install gmock in CI * Apply clang-tidy only to GLOMAP headers * Fix clang-tidy regexp header filter * Make PoseLib a system include
* add reconstruction normalization after each step * seperate out the helper function for normalization * d * f
* update colmap version * f * d
* fix the bug that the update of threshold from command line is not reflected in the structure * f * update * refactor the loss_function * d
…olmap#170) * add more options in CLI and add support to optimize principal point * d * by default, do not optimize pp
* fix the bug that relative pose estimation fails when camera model is not supported by poselib * allow the focal length to be different for unrecognized camera type
* added gpu support * add gpu to bundle adjustment * f * add gpu to global positioning and bundle adjustment * format * change back to original glomap naming * keep consistent between gp and ba * change to the workflow to test cuda as well * add option in cmake whether to use cuda * d * d * d * d * d * change version * keep the minimum_num to be consistent with COLMAP --------- Co-authored-by: Linfei Pan <linpan@student.ethz.ch>
* Fix conversion of colmap pose prior * d * restore the pose prior after rotation averaging * f * f * f * gravity refinement tested * add the stratified rotation averager and CLI * f * d * d * add timer * add options for gravity refinement * merge gravity_io to pose_io * add readme for the rotation averager * f * Update glomap/math/gravity.cc Co-authored-by: Johannes Schönberger <joschonb@microsoft.com> * f * Update glomap/controllers/rotation_averager.cc Co-authored-by: Johannes Schönberger <joschonb@microsoft.com> * Update glomap/controllers/rotation_averager.cc Co-authored-by: Johannes Schönberger <joschonb@microsoft.com> * change rotation averager from class to struct * d * d * add weighting and corresponding IO. Tested * change the writing of relative pose to be sorted * unit test for rotation averager * inject noise to avoid local minima for error-free case * f * add more points in the unit test --------- Co-authored-by: Johannes Schönberger <joschonb@microsoft.com>
* Update vcpkg to latest version * d * d * d
* improved readme * Update docs/rotation_averager.md Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update docs/getting_started.md Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update docs/rotation_averager.md Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * Update docs/getting_started.md Co-authored-by: Johannes Schönberger <jsch@demuc.de> * Update docs/getting_started.md Co-authored-by: Johannes Schönberger <jsch@demuc.de> --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> Co-authored-by: Johannes Schönberger <jsch@demuc.de>
* rigged global positioning. Not debugged yet * compilation debugged * the rigged GP debugged * debug code * dbugging rig GP * rig rotation averaging implemented * minor * rigged bundle adjustment * rigged pipeline * largest connect componenet establishment with rigs * test entry point * remove unnecessary dependency * add support for relative pose estimation only * change the snapshot logic * minor * migrate to COLMAP 3..12 (with rig support) * refactor rotation averaging. RIGGED version not working yet * d * rigged rotation averaging debugged. The convergence is poor. * rigged global positioning * minor * add stratefied rotation averaging for initialization * rotation initializer * gravity refinement with rig support * unit test for mapper. Include additional non-trivial rig test * unit test for RA. Add test for rig support * add gravity aligned RA for rigs * move the gravity property to frames * add frame struct * pose io with gravity support * d * remove the old version * rename the rigged version back to normal * name back the rigged version to default * normalization with rig support * cleanup and add support for cam-to-cam constraints * add reconstruction normalization * cleanup * f * d * d * f * d * d * d * d * d * skip unconnected images * f * Update glomap/controllers/global_mapper.cc Co-authored-by: Johannes Schönberger <jsch@demuc.de> * Update glomap/controllers/global_mapper.cc Co-authored-by: Johannes Schönberger <jsch@demuc.de> * renaming * remove redundant files * temp cam_from_world * change version match to only consider the first two numbers * changed todo * renaming * refactor the code so the is_registered is a frame property * formulate the pruning with respect to frames * m * f * d * d * Update to latest colmap and poselib * Update glomap/estimators/cost_function.h Co-authored-by: Johannes Schönberger <jsch@demuc.de> * Update glomap/estimators/gravity_refinement.cc Co-authored-by: Johannes Schönberger <jsch@demuc.de> * Update glomap/estimators/gravity_refinement.cc Co-authored-by: Johannes Schönberger <jsch@demuc.de> * address minor issues * clean up * f * d * cleanup * expose optimize_rig_poses in cli * fix the bug for the reconstruction output when there are more than 1 cluster * f * make pair_id consistent with colmap * fix the bug for ba with rig calibration * f * f * stablize the reconstruction by removing nearly degenerate points * d * d * d * d * d * d * d * d * d * d * d * d --------- Co-authored-by: Johannes Schönberger <jsch@demuc.de> Co-authored-by: Johannes Schönberger <jsch@meta.com>
…olmap#223) * Update to latest colmap and use L1 solver + union-find from colmap * d * d * d * d * d * d * d * d * d * d * d * d
* Update to latest colmap and use L1 solver + union-find from colmap * Simplify view graph * d * d
* fix the rotation averaging bug * f
Merges 41 commits from upstream colmap/glomap including: - Rig support and colmap 3.12 upgrade - Rotation averaging improvements - View graph simplification - GPU solver support (cuDSS) - Various bug fixes and optimizations Preserved rerun visualization features: - recording.cc/h for rerun logging - LoggingCallback in global_positioning.cc - Rerun logging throughout the pipeline - FETCH_RERUN cmake option
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Merged upstream glowmap main branch through Dec 31, 2025 (42 commits)
Updated build to use rerun SDK 0.28.1 from 0.17
Improved extract_frames.py to not keep all frames in memory before writing, add progress logging
Added RERUN_CONNECT env var to allow remote (or non-containerized) rerun viewer
Switched Dockerfile to use Ubuntu 24.04 LTS as 24.10 is now out of support and fails to update