EuRoC_MH01.mp4
COLMAP_SLAM is a Visual-SLAM based on COLMAP API and is mainly intended for the development and testing of new SLAM features (deep-learning based tie points and matching, keyframe selection, global optimization, etc). The repository relys on Kornia (https://github.com/kornia/kornia) for matching, and some detectors and descriptors.
Monocular and multicamera scenario are supported. We are joining an other repository with other features (loop-closure detection, GNSS and IMU aiding). We are optimizing the code for very long sequences. If interested in the project please contact us, you are free to join.
Note the repository is an adaptation of COLMAP to work in real-time, for code and license please refer to COLMAP.
| Local Feature | Supported | Matcher | Supported |
|---|---|---|---|
| RootSIFT | yes | Brute Force | yes |
| ORB | yes | SuperGlue | yes |
| Key.Net + HardNet8 | yes | LightGlue | yes |
| ALIKE | yes | LoFTR | not yet |
| ALIKED | not yet | ADALAM | yes |
| SuperPoint | yes | ... | |
| DISK | yes | ... | |
| DeDoDe | not yet | ... | |
| DKM | not yet | ... |
Download a dataset from https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets and unzip it in the raw_data folder. For instance, for Machine Hall 01 use only cam0.
In linux, you can use the following commands:
mkdir raw_data
wget http://robotics.ethz.ch/\~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip -P raw_data
unzip -q raw_data/MH_01_easy.zip -d raw_data/MH_01_easyTo install COLMAP_SLAM in a conda environment (Linux, Windows, MacOS)
conda create -n colmap_slam python=3.9.17
conda activate colmap_slamInstall pytorch. See https://pytorch.org/get-started/locally/#linux-pip
python -m pip install --upgrade pip
pip install -r requirements.txtIf you have COLMAP installed yet on your PC, remeber to set the path to the COLMAP executable in config.ini, e.g., for linux:
COLMAP_EXE_DIR = /usr/local/bin/For the installation of COLMAP see the official documentation https://colmap.github.io/install.html You can find some example in the following section Usage Examples
Change config.ini according to your needs and run
python3 main.pyThere are some options to change in config.ini to run COLMAP_SLAM:
If you are simulating a real time process you have to set
SIMULATOR_IMG_DIR = path/to/frame/folder # for instance "./raw_data/MH_01_easy/mav0/cam0/data"
STEP = 5 # If you have high frame rate you can skip some images to increase speed
SIMULATOR_SLEEP_TIME = 0.25 # Time to wait to copy next image
IMG_FORMAT = jpg
COLMAP_EXE_DIR = /usr/local/bin/
This should be enough to run with default options. All the options related to the real time processing can be found in config.ini. The options related to COLMAP APIs are in the lib folder with format .ini
- Add full compatibility to Kornia local features
- Join multi camera code
- Join loop-closure detection
- Join GNSS positioning
- Join IMU aiding
- Pycolmap
- Optimize the code for long sequences
- Add option to resize too big images
- Add pose graph optimization
Morelli, L., Ioli, F., Beber, R., Menna, F., Remondino, F. and Vitti, A., 2023. COLMAP-SLAM: A FRAMEWORK FOR VISUAL ODOMETRY. The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 48, pp.317-324.
For keyframe selection and display: ALIKE (https://github.com/Shiaoming/ALIKE) For detectors and matching: Kornia (https://github.com/kornia/kornia)
MIT License
Copyright (c) 2023 3DOM-FBK
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in alls copies or substantial portions of the Software.
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