Add rig support and upgrade colmap to version 3.12 (#201)

* 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 <[email protected]>

* Update glomap/controllers/global_mapper.cc

Co-authored-by: Johannes Schönberger <[email protected]>

* 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 <[email protected]>

* Update glomap/estimators/gravity_refinement.cc

Co-authored-by: Johannes Schönberger <[email protected]>

* Update glomap/estimators/gravity_refinement.cc

Co-authored-by: Johannes Schönberger <[email protected]>

* 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 <[email protected]>
Co-authored-by: Johannes Schönberger <[email protected]>

Author: lpanaf

.clang-tidy

@@ -2,12 +2,14 @@ Checks: >
   performance-*,
   concurrency-*,
   bugprone-*,
+  -clang-analyzer-security.ArrayBound,
   -bugprone-easily-swappable-parameters,
   -bugprone-exception-escape,
   -bugprone-implicit-widening-of-multiplication-result,
   -bugprone-narrowing-conversions,
   -bugprone-reserved-identifier,
   -bugprone-unchecked-optional-access,
+  -performance-enum-size,
   cppcoreguidelines-virtual-class-destructor,
   google-explicit-constructor,
   google-build-using-namespace,

.github/workflows/mac.yml

@@ -40,8 +40,8 @@ jobs:
 
       - name: Setup Mac
         run: |
+          brew upgrade cmake || brew install cmake
           brew install \
-            cmake \
             ninja \
             boost \
             eigen \
@@ -56,6 +56,7 @@ jobs:
             cgal \
             sqlite3 \
             ccache
+          brew link --force libomp
 
       - name: Configure and build
         run: |

.github/workflows/ubuntu.yml

@@ -11,41 +11,46 @@ on:
 
 jobs:
   build:
-    name: ${{ matrix.config.os }} ${{ matrix.config.cmakeBuildType }} ${{ matrix.config.cudaEnabled && 'CUDA' || '' }} ${{ matrix.config.asanEnabled && 'ASan' || '' }}
+    name: ${{ matrix.config.os }} ${{ matrix.config.cmakeBuildType }} ${{ matrix.config.cudaEnabled && 'CUDA' || '' }} ${{ matrix.config.asanEnabled && 'ASan' || '' }} ${{ matrix.config.coverageEnabled && 'Coverage' || '' }}
     runs-on: ${{ matrix.config.os }}
     strategy:
       matrix:
         config: [
           {
             os: ubuntu-24.04,
+            qtVersion: 6,
             cmakeBuildType: RelWithDebInfo,
             asanEnabled: false,
             cudaEnabled: false,
             checkCodeFormat: true,
           },
           {
             os: ubuntu-22.04,
+            qtVersion: 6,
             cmakeBuildType: Release,
             asanEnabled: false,
             cudaEnabled: false,
             checkCodeFormat: true,
           },
           {
             os: ubuntu-22.04,
+            qtVersion: 5,
             cmakeBuildType: Release,
             asanEnabled: false,
             cudaEnabled: true,
             checkCodeFormat: false,
           },
           {
-            os: ubuntu-22.04,
+            os: ubuntu-24.04,
+            qtVersion: 6,
             cmakeBuildType: Release,
             asanEnabled: true,
             cudaEnabled: false,
             checkCodeFormat: false,
           },
           {
-            os: ubuntu-22.04,
+            os: ubuntu-24.04,
+            qtVersion: 6,
             cmakeBuildType: ClangTidy,
             asanEnabled: false,
             cudaEnabled: false,
@@ -59,6 +64,8 @@ jobs:
       CCACHE_DIR: ${{ github.workspace }}/compiler-cache/ccache
       CCACHE_BASEDIR: ${{ github.workspace }}
       CTCACHE_DIR: ${{ github.workspace }}/compiler-cache/ctcache
+      GLOG_v: 2
+      GLOG_logtostderr: 1
 
     steps:
       - uses: actions/checkout@v4
@@ -100,6 +107,12 @@ jobs:
 
       - name: Setup Ubuntu
         run: |
+          if [ "${{ matrix.config.qtVersion }}" == "5" ]; then
+            qt_packages="qtbase5-dev libqt5opengl5-dev libcgal-qt5-dev"
+          elif [ "${{ matrix.config.qtVersion }}" == "6" ]; then
+            qt_packages="qt6-base-dev libqt6opengl6-dev libqt6openglwidgets6"
+          fi
+
           sudo apt-get update && sudo apt-get install -y \
             build-essential \
             cmake \
@@ -117,7 +130,7 @@ jobs:
             libgmock-dev \
             libsqlite3-dev \
             libglew-dev \
-            qtbase5-dev \
+            $qt_packages \
             libqt5opengl5-dev \
             libcgal-dev \
             libcgal-qt5-dev \
@@ -145,15 +158,15 @@ jobs:
           fi
 
           if [ "${{ matrix.config.asanEnabled }}" == "true" ]; then
-            sudo apt-get install -y clang-15 libomp-15-dev
-            echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
-            echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
+            sudo apt-get install -y clang-18 libomp-18-dev
+            echo "CC=/usr/bin/clang-18" >> $GITHUB_ENV
+            echo "CXX=/usr/bin/clang++-18" >> $GITHUB_ENV
           fi
 
           if [ "${{ matrix.config.cmakeBuildType }}" == "ClangTidy" ]; then
-            sudo apt-get install -y clang-15 clang-tidy-15 libomp-15-dev
-            echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
-            echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
+            sudo apt-get install -y clang-18 clang-tidy-18 libomp-18-dev
+            echo "CC=/usr/bin/clang-18" >> $GITHUB_ENV
+            echo "CXX=/usr/bin/clang++-18" >> $GITHUB_ENV
           fi
 
       - name: Upgrade CMake
@@ -183,7 +196,7 @@ jobs:
 
       - name: Run tests
         if: ${{ matrix.config.cmakeBuildType != 'ClangTidy' }}
-        run: |          
+        run: |
           export DISPLAY=":99.0"
           export QT_QPA_PLATFORM="offscreen"
           Xvfb :99 &

.gitignore

@@ -1,3 +1,4 @@
 /build
 /data
 /.vscode
+/compile_commands.json

cmake/FindDependencies.cmake

@@ -7,6 +7,7 @@ if(NOT TARGET SuiteSparse::CHOLMOD)
 endif()
 find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
 find_package(Boost REQUIRED)
+find_package(OpenMP REQUIRED COMPONENTS C CXX)
 
 if(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
     find_package(Glog REQUIRED)
@@ -26,7 +27,7 @@ endif()
 include(FetchContent)
 FetchContent_Declare(PoseLib
     GIT_REPOSITORY    https://github.com/PoseLib/PoseLib.git
-    GIT_TAG           0439b2d361125915b8821043fca9376e6cc575b9
+    GIT_TAG           7e9f5f53372e43f89655040d4dfc4a00e5ace11c  # 2.0.5
     EXCLUDE_FROM_ALL
     SYSTEM
 )
@@ -40,30 +41,14 @@ message(STATUS "Configuring PoseLib... done")
 
 FetchContent_Declare(COLMAP
     GIT_REPOSITORY    https://github.com/colmap/colmap.git
-    GIT_TAG           78f1eefacae542d753c2e4f6a26771a0d976227d
+    GIT_TAG           c5f9cefc87e5dd596b638e4cee0ff543c7d14755  # Oct 23 2025
     EXCLUDE_FROM_ALL
 )
 message(STATUS "Configuring COLMAP...")
 set(UNINSTALL_ENABLED OFF CACHE INTERNAL "")
+set(GUI_ENABLED OFF CACHE INTERNAL "")
 if (FETCH_COLMAP)
     FetchContent_MakeAvailable(COLMAP)
-
-    # Define where to store the patch
-    set(COLMAP_PATCH_PATH ${CMAKE_BINARY_DIR}/fix_poisson.patch)
-
-    # Download the patch from GitHub
-    file(DOWNLOAD
-        https://github.com/colmap/colmap/commit/a586e7cb223cc86c609105246ecd3a10e0c55131.patch
-        ${COLMAP_PATCH_PATH}
-        SHOW_PROGRESS
-        STATUS PATCH_DOWNLOAD_STATUS
-    )
-    # Apply the patch
-    execute_process(
-        COMMAND git apply ${COLMAP_PATCH_PATH}
-        WORKING_DIRECTORY ${colmap_SOURCE_DIR}
-        RESULT_VARIABLE PATCH_RESULT
-    )
 else()
     find_package(COLMAP REQUIRED)
 endif()

glomap/CMakeLists.txt

@@ -9,6 +9,7 @@ set(SOURCES
     estimators/global_rotation_averaging.cc
     estimators/gravity_refinement.cc
     estimators/relpose_estimation.cc
+    estimators/rotation_initializer.cc
     estimators/view_graph_calibration.cc
     io/colmap_converter.cc
     io/colmap_io.cc
@@ -38,8 +39,9 @@ set(HEADERS
     estimators/global_positioning.h
     estimators/global_rotation_averaging.h
     estimators/gravity_refinement.h
-    estimators/relpose_estimation.h
     estimators/optimization_base.h
+    estimators/relpose_estimation.h
+    estimators/rotation_initializer.h
     estimators/view_graph_calibration.h
     io/colmap_converter.h
     io/colmap_io.h
@@ -58,6 +60,7 @@ set(HEADERS
     processors/track_filter.h
     processors/view_graph_manipulation.h
     scene/camera.h
+    scene/frame.h
     scene/image_pair.h
     scene/image.h
     scene/track.h
@@ -84,6 +87,7 @@ target_link_libraries(
         Eigen3::Eigen
         Ceres::ceres
         SuiteSparse::CHOLMOD
+        OpenMP::OpenMP_CXX
         ${BOOST_LIBRARIES}
 )
 target_include_directories(glomap PUBLIC ..)
@@ -112,7 +116,6 @@ target_link_libraries(glomap_main glomap)
 set_target_properties(glomap_main PROPERTIES OUTPUT_NAME glomap)
 install(TARGETS glomap_main DESTINATION bin)
 
-
 if(TESTS_ENABLED)
     add_executable(glomap_test
         controllers/global_mapper_test.cc