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Published 20 hours ago • verified publisher icon cvg

Adding pairs from sequence

Open cduguet opened this issue 2 years ago • 6 comments

For faster SfM from video frames, and since it was mentioned in https://github.com/cvg/Hierarchical-Localization/issues/135, I made a small image pair generator based on pairs_from_exhaustive. It has a window size, meaning image i can be paired with many up to i+window, and a loop option, meaning the last image can be paired with the first one.

cduguet avatar Mar 30 '22 22:03 cduguet

Thank you very much for this contribution! COLMAP has a sequential matcher that also has:

  • quadratic overlap: match images in i + 2**[0, window] as well
  • loop closure: trigger retrieval every n frames

Are you interested in implementing these features? I think that they could improve the accuracy & robustness on video data.

sarlinpe avatar Apr 04 '22 08:04 sarlinpe

sure thing, it's a great idea! adding to my todo list.

cduguet avatar Apr 05 '22 20:04 cduguet

Could you finish the sequential matcher? I have the same interest in it.

zr19980402 avatar May 30 '22 14:05 zr19980402

Same thing would be real nice

awarebayes avatar Feb 28 '23 16:02 awarebayes

Good implementation with loop closing and retrieval can be found in this fork: https://gitlab.ethz.ch/z-ricityslam/hloc_fork

awarebayes avatar Mar 21 '23 12:03 awarebayes

Thanks for your help

| | 徐浩若 | | @.*** | ---- Replied Message ---- | From | Mikhail @.> | | Date | 3/21/2023 20:22 | | To | @.> | | Cc | @.> , @.> | | Subject | Re: [cvg/Hierarchical-Localization] Adding pairs from sequence (PR #175) |

Good implementation with loop closing and retrieval can be found in this fork: https://gitlab.ethz.ch/z-ricityslam/hloc_fork

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zr19980402 avatar Mar 21 '23 12:03 zr19980402