ColmapForVisSat Patches

This repository uses git patch to implement ColmapForVisSat.

Since ColmapForVisSat is a full copy of Colmap, it is difficult to maintain. By relying on git apply <patch> this repository offers a simpler approach to incorporate the latest changes of the original Colmap library.

Different patched Colmap versions (mimicking ColmapForVisSat) can be found here - check the individual branches.

Compatibility

In contrast to the original ColmapForVisSat library, this repository supports CUDA 11.

Current patch files are created for the Colmap commit 64916f856259d8386df96bc95e0eb28cd5fca86e (2023-03-01 20:54:52 +0000)

Apply a set of satellite specific patch files to the original Colmap repository

This repository uses Repository Patcher to apply the patches. Follow the install instructions here and the configuration instructions here.

Afterwards apply the patch files in the patches folder using the instructions here.

Build the patched Colmap repository

• Run sudo apt-get install libmetis-dev
• If anaconda/miniconda is installed, make sure to run conda deactivate before running cmake.
• While building colmap you might want to set the CUDA architecture and/or the Ceres version.
  • cmake -DCMAKE_PREFIX_PATH=/usr/local -DCMAKE_BUILD_TYPE=Release -DCMAKE_CUDA_ARCHITECTURES=86 -GNinja ..
• Follow the official install insctructions of Colmap for Linux.

For contributors/developers

Update patch files for newer Colmap versions

See the instructions here.

Create a branch for the patched colmap version

git clone https://github.com/SBCV/colmap
cd $PathToSBCVColmap
git switch -c vissat_<patches-commit-hash>

Non-trivial conversion notes

Inconsistencies

• src/base/reconstruction.cc --> Reconstruction::Normalize() --> if (translation_applied && scale_applied) {

  • add
    • const Eigen::Vector3d mean_coord = std::get<2>(bound);
    • const Eigen::Vector3d translation = mean_coord;

• src/controllers/bundle_adjustment.cc --> void BundleAdjustmentController::Run() { -->

  • can not uncomment reconstruction_->Normalize();, since line does not exist.
  • => uncomment reconstruction_->Normalize(); in src/ui/bundle_adjustment_widget.cc
  • keep reconstruction_->Normalize(); in src/sfm/incremental_mapper.cc, since these are not touched in the adapted colmap version

Obsolete ? (TODO)

- src/base/reconstruction.cc  -->  void Reconstruction::WriteCamerasText() -->  file << std::setprecision(PRECISION);
- src/base/reconstruction.cc  -->  void Reconstruction::WriteCamerasText() -->  line << std::setprecision(PRECISION);
- src/base/reconstruction.cc  -->  void Reconstruction::WriteImagesText() -->  file << std::setprecision(PRECISION);
- src/base/reconstruction.cc  -->  void Reconstruction::WriteImagesText() -->  line << std::setprecision(PRECISION);
- src/base/reconstruction.cc  -->  void Reconstruction::WritePoints3DText() -->  file << std::setprecision(PRECISION);
- src/base/reconstruction.cc  -->  void Reconstruction::WritePoints3DText() -->  line << std::setprecision(PRECISION);
- src/mvs/math.h

Questionable Changes (TODO)

• src/mvs/patch_match_cuda.cu --> Deleted return in line 181/385