COLMAP_SLAM

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	...

EuRoC

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_easy

Install and run

Install in Conda Environment

To install COLMAP_SLAM in a conda environment (Linux, Windows, MacOS)

conda create -n colmap_slam python=3.9.17
conda activate colmap_slam

Install pytorch. See https://pytorch.org/get-started/locally/#linux-pip

python -m pip install --upgrade pip
pip install -r requirements.txt

Install COLMAP

If 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

Run COLMAP_SLAM

Change config.ini according to your needs and run

python3 main.py

Options

There 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

TODO

• 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

Reference

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.

Acknowledgements

For keyframe selection and display: ALIKE (https://github.com/Shiaoming/ALIKE) For detectors and matching: Kornia (https://github.com/kornia/kornia)

License

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.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.