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Reviewed By: fabianschenk Differential Revision: D37315331 fbshipit-source-id: 5016c6d45d528c2fff5d8e32d03bcf4577c27f47
Reviewed By: fabianschenk Differential Revision: D37341649 fbshipit-source-id: d090ea5977b13ffdd61802f80cd4a412fce613d1
Summary: This diff does the following: - removes the unused `acceleration_` variable - adds `const` to parameters and members in `bundle` wherever possible Reviewed By: tobias-o Differential Revision: D37339308 fbshipit-source-id: 69432532dd706df612004e05602bb16d53808221
Summary: If a user selects the feature type using lower case letters, e.g. "orb", detect_features will cast to upper case and proceed normally. However, when saving the features no casting is performed, and descriptors are saved to disk as float, leading to the wrong matcher being selected in the next stage, silently leading to poor matching performance. Pull Request resolved: mapillary#805 Reviewed By: YanNoun Differential Revision: D37379909 Pulled By: fabianschenk fbshipit-source-id: 0c6b817bf5f88d2b736eb66c3bb42f9f8cc1e6aa
Summary: Update `*.pyi` files Reviewed By: tobias-o Differential Revision: D37451823 fbshipit-source-id: e3a73870358c842fbffa0468930cac5c7687572e
Summary:
Hey there ✋
When trying to reconstruct a small image set (2 or 3 images) and `matching_graph_rounds` is enabled, the pipeline will fail at the feature matching step:
```
Traceback (most recent call last):
File "/code/SuperBuild/install/bin/opensfm/bin/opensfm_main.py", line 25, in <module>
commands.command_runner(
File "/code/SuperBuild/install/bin/opensfm/opensfm/commands/command_runner.py", line 37, in command_runner
command.run(data, args)
File "/code/SuperBuild/install/bin/opensfm/opensfm/commands/command.py", line 12, in run
self.run_impl(data, args)
File "/code/SuperBuild/install/bin/opensfm/opensfm/commands/match_features.py", line 11, in run_impl
match_features.run_dataset(dataset)
File "/code/SuperBuild/install/bin/opensfm/opensfm/actions/match_features.py", line 14, in run_dataset
pairs_matches, preport = matching.match_images(data, {}, images, images)
File "/code/SuperBuild/install/bin/opensfm/opensfm/matching.py", line 46, in match_images
pairs, preport = pairs_selection.match_candidates_from_metadata(
File "/code/SuperBuild/install/bin/opensfm/opensfm/pairs_selection.py", line 630, in match_candidates_from_metadata
g = match_candidates_by_graph(
File "/code/SuperBuild/install/bin/opensfm/opensfm/pairs_selection.py", line 253, in match_candidates_by_graph
triangles = spatial.Delaunay(points).simplices
File "qhull.pyx", line 1840, in scipy.spatial.qhull.Delaunay.__init__
File "qhull.pyx", line 356, in scipy.spatial.qhull._Qhull.__init__
scipy.spatial.qhull.QhullError: QH6214 qhull input error: not enough points(2) to construct initial simplex (need 4)
While executing: | qhull d Qt Qc Q12 Qbb Qz
Options selected for Qhull 2019.1.r 2019/06/21:
run-id 521442032 delaunay Qtriangulate Qcoplanar-keep Q12-allow-wide
Qbbound-last Qz-infinity-point _pre-merge _zero-centrum Qinterior-keep
_maxoutside 0
```
This is solved by having `match_candidates_by_graph` return early if there's less than 4 input images.
Pull Request resolved: mapillary#878
Reviewed By: YanNoun
Differential Revision: D37379926
Pulled By: fabianschenk
fbshipit-source-id: 3390446668faa5a5680b772ddeb3bda7f9cc575e
Summary: Hello ✋ This PR adds support for exporting image masks to OpenMVS, if they are set. Hope this can be useful to others. 🙏 Pull Request resolved: mapillary#921 Reviewed By: YanNoun Differential Revision: D37410286 Pulled By: fabianschenk fbshipit-source-id: 6a2ea96c95a91e0dc9f36c5ad0ab4931c02b98aa
Summary: Fixes `ModuleNotFoundError: No module named 'cv2'` when following the [Building](https://opensfm.readthedocs.io/en/latest/building.html) instructions on Ubuntu 20.04 with virtualenv or similar. Pull Request resolved: mapillary#910 Reviewed By: YanNoun Differential Revision: D37346114 Pulled By: fabianschenk fbshipit-source-id: 72e2f2d810c31945fe543bc4367ef68997e4a8df
Summary: This Diff changes the linear motion prior from additive to multiplicative form, in order to avoid shrinking effects that could arise. However, we need to switch back to additive from in case of coincident centers (is breaking error function continuity). Reviewed By: fabianschenk Differential Revision: D37345489 fbshipit-source-id: f69e763f6f797c40b181ceb576bb6ad3be6e547f
Summary: Fix typo Pull Request resolved: mapillary#922 Reviewed By: YanNoun Differential Revision: D37601783 Pulled By: fabianschenk fbshipit-source-id: df6ae866e1660238c6d41ff06025f6f38ff3eae7
Summary: The `altitude` is always set to `0`, thus can be safely removed from the `invent_reference_from_gps_and_gcp` computation. Reviewed By: YanNoun Differential Revision: D37453036 fbshipit-source-id: cb561dfb49505e7a2bb45799e88dbbb3f26012bd
Summary: Set `use_altitude_tag = True` by default in the `config.py`. This should also solve problems like this [github issue](mapillary#918), where images are taken several meters above ground, e.g. by a drone, and points actually on the floor are then at a negative distance. Reviewed By: YanNoun Differential Revision: D37481946 fbshipit-source-id: 10247e1afca8c8f0aa31d693f2e14115cf238f89
Summary: This Diff adds a synthetic logging for OpenSfM bundle which summarizes if it was GLOBAL or LOCAL and the number of optimized entities (points and shots), as well as the actual running time. Reviewed By: Ahmed-Salama Differential Revision: D37717627 fbshipit-source-id: f51f55c03fc83f99c6f290f22eecce51199c4fd9
Summary: This Diff fix an edge case in global bundle : - We were constructing the camera from the shots, because for > 1 rig instances (with > 1 rig camera), we usually have all the cameras in any of the instance. - In the edge case of individual rig cameras (each instance has a different rig camera), this is not the case during the initial pair bootstrap, as we ignore one of the two shots (we adjust each shot in turn). we fixed that by collecting all the cameras, similarly to the rig cameras collection, and instanciate them at once. Reviewed By: Ahmed-Salama Differential Revision: D37717624 fbshipit-source-id: 9841a4e6538b5a1f75a15756c4eeb15eac01eae7
Summary: This Diff strengthen the # of rig instances requirements for unleashing rig camera poses. In the Aria case, all rig instances have different cameras, which is over parametrized in that case. Reviewed By: Ahmed-Salama Differential Revision: D37717628 fbshipit-source-id: a24e7a1666af9711b131455864699c8cb7c2494e
Summary: This Diff fixes a typo in stats which was also causing failure in rig camera stats computation. Reviewed By: fabianschenk Differential Revision: D37717626 fbshipit-source-id: b0a1ef809f4733e8351238ae91bb7bc22b8b1ffc
Summary: This PR is in regards to the issue mapillary#741. As open3D does not currently support user-defined headers, the following command fails to load colors from the ply file because OpenSfM generates ply file with `diffuse_` prefix to the color headers. ``` import open3d as o3d pcd = o3d.io.read_point_cloud('merged.ply') print(pcd.colors) >>pcd.colors => std::vector<Eigen::Vector3d> with 0 elements. ``` To support [official ply headers](http://paulbourke.net/dataformats/ply/), `point_cloud_to_ply` and `ply_header` functions have been modified in the `OpenSfM/opensfm/io.py`. ``` def point_cloud_to_ply( points: np.ndarray, normals: np.ndarray, colors: np.ndarray, labels: np.ndarray, fp: TextIO, ) -> None: ... fp.write("property uchar red\n") # Changed from diffuse_red fp.write("property uchar green\n") # Changed from diffuse_green fp.write("property uchar blue\n") # Changed from diffuse_blue fp.write("property uchar class\n") fp.write("end_header\n") ... ``` Pull Request resolved: mapillary#932 Reviewed By: YanNoun Differential Revision: D37817489 Pulled By: fabianschenk fbshipit-source-id: cde2a8172a2bf2f8256c9772a6bad4decaa9de78
Summary: Update wrong documentation: - OpenCV Fisheye has 4 radial distortion parameters instead of the 3 mentioned in the doc - Fisheye62 should have `theta^2` Follow-up on two github issues: - mapillary#930 - mapillary#929 See Fisheye62 discussion in the [github issue](mapillary#930). The distortion computation is the same as for OpenCV fisheye just with more parameters. Reviewed By: YanNoun Differential Revision: D37814244 fbshipit-source-id: fe999ef52b6da0865ec410175329c910dd78e331
Reviewed By: YanNoun Differential Revision: D37609433 fbshipit-source-id: fc642902417c5e7ee9469edbb96303be0a24e471
Reviewed By: YanNoun Differential Revision: D38146475 fbshipit-source-id: e9073bf4b237fbc0908ae40f65c224e5b8a21900
Summary: Fix robust_match on matches which are already filtered. Masking feature points again would cause out of bounds errors when resolving matches to features Reviewed By: YanNoun Differential Revision: D38146504 fbshipit-source-id: 444b21a959e4eca85b641d02ab59c03e752eb327
Differential Revision: D38448211 fbshipit-source-id: 4da716a8adcd2455c71d946fb2d0d62ffe35782a
Summary: Add missing parenthesis in log statement Pull Request resolved: mapillary#940 Reviewed By: YanNoun Differential Revision: D38703078 Pulled By: fabianschenk fbshipit-source-id: 54fe5655e724908e951bf289ae3bce9b71aad8e6
Summary: `metadata.compass_accuracy.value` is required to be float. If accuracy is set to `None`, the if condition passes, but an error is thrown at runtime Reviewed By: fabianschenk Differential Revision: D38703925 fbshipit-source-id: 932a3022912b0de640e04102bcd36f5a4070b320
Summary: Added data format for the tracks.csv file in order to help other people using that file Pull Request resolved: mapillary#938 Reviewed By: YanNoun Differential Revision: D38908516 Pulled By: fabianschenk fbshipit-source-id: 307207958b36f87290695503d73199e1fab8506f
Summary: Pull Request resolved: mapillary#943 Reviewed By: YanNoun Differential Revision: D38908510 Pulled By: fabianschenk fbshipit-source-id: d9db92186064bbfab7cd32d363d2f440343465a0
Summary: Pull Request resolved: mapillary#944 Reviewed By: YanNoun Differential Revision: D38908509 Pulled By: fabianschenk fbshipit-source-id: 94d9c79a615bc518564e6bc6a9ea1457ebd52859
Summary: added zenmuse p1 (mapillary#933) Pull Request resolved: mapillary#945 Reviewed By: paulinus Differential Revision: D38908505 Pulled By: fabianschenk fbshipit-source-id: e50a16f6a6c1886207ea5598a70701964b2c0ac8
Summary: The projection_type for the Fisheye62 cameras was missing in the switch-statements. Pull Request resolved: mapillary#957 Reviewed By: YanNoun Differential Revision: D41580786 Pulled By: fabianschenk fbshipit-source-id: 2bf5cf758fadd1643f289bf77e3c770de1c84691
Summary: Pull Request resolved: mapillary#976 This is an extension to mapillary#972 - Update NUMPY, scipy requirements to make docker run again - A few things were removed in the most recent numpy version, so minor fixes Reviewed By: YanNoun Differential Revision: D42605541 fbshipit-source-id: 4061bd1c705c2625c99a6b1cf2829a8ef93e3802
added 30 commits
January 12, 2026 20:55
A bit for autoformat as well
Added OPK error display
…ch + polyfit near the minima
…e it anyway) + distinct storage for Observation and std::srtring in separate pool, so we stoee connections as indexes.
Conda to ease the development, especially dependencies.
…id size to balance that we have less tracks. Free formatting pass on tracks_helpers
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This is an attempt to reconcile OpenSfM main repository, ODM, and a few things I've added to OpenSfM, namely :
I've kept all ODM-specific code modifications.