GLOMAP mapper crashes during retriangulation with "Check failed:..." errors. #219
Description
Summary
I’m attempting to run GLOMAP as a drop-in replacement for COLMAP’s mapper.
However, GLOMAP consistently crashes during retriangulation when run on my dataset—even with the simplest invocation (--database_path, --image_path, --output_path only).
Error:
Check failed: existing_frame.DataIds() == frame.DataIds()
terminate called after throwing an instance of 'std::invalid_argument'
what(): [reconstruction.cc:166] Check failed: existing_frame.DataIds() == frame.DataIds()
Or, in another run:
Check failed: existing_rig.RefSensorId() == rig.RefSensorId()
what(): [reconstruction.cc:153]
This happens with any of the following:
- Using GLOMAP directly from the command line
- Calling GLOMAP from another tool (Nerfstudio)
- Running on a dataset that COLMAP itself handles without issues
Environment
Base OS: nerfstudio:latest Docker imagev(Ubuntu 22.04)
CMake used for GLOMAP build: 3.28.0
COLMAP: whatever version comes inside Nerfstudio’s Docker image
GLOMAP build steps:
[download cmake 3.28.0 release from git since the docker has 3.25 which is not compatible]
git clone https://github.com/colmap/glomap
mkdir build && cd build
cmake .. -GNinja
ninja
sudo ninja install
Using cmake 3.28.0, there are no errors during the build.
Minimal Reproduction
I prepared a minimal reproduction dataset, including:
- Input images (images/)
- The COLMAP-generated database.db (from feature_extractor + exhaustive_matcher)
Commands to Reproduce
colmap feature_extractor --image_path /workspace/col_vs_glo_comparison/minimal_reproduction/images/ --database_path minimal_reproduction/colmap/database.dbcolmap exhaustive_matcher --database_path minimal_reproduction/colmap/database.db --SiftMatching.use_gpu 1glomap mapper --database_path minimal_reproduction/colmap/database.db --image_path minimal_reproduction/images/ --output_path minimal_reproduction/colmap/sparse/
Console output
user@64af46311bb4:/workspace/col_vs_glo_comparison$ glomap mapper --database_path minimal_reproduction/colmap/database.db --image_path minimal_reproduction/images/ --outputmap/sparse/
Loading Images 20 / 20
Loading Image Pair 107 / 107
I1113 19:21:09.903759 14761 colmap_converter.cc:424] Pairs read done. 13 / 107 are invalid
I1113 19:21:09.905555 14761 global_mapper.cc:84] Loaded database
-------------------------------------
Running preprocessing ...
-------------------------------------
I1113 19:21:09.906014 14761 view_graph_manipulation.cc:255] Decompose relative pose for 0 pairs
I1113 19:21:09.907400 14761 view_graph_manipulation.cc:309] Decompose relative pose done. 0 pairs are pure rotation
I1113 19:21:09.907776 14761 timer.cc:86] Elapsed time: 0.00221 [seconds]
-------------------------------------
Running view graph calibration ...
-------------------------------------
I1113 19:21:09.907850 14761 view_graph_calibration.cc:16] Start ViewGraphCalibrator
I1113 19:21:09.924733 14761 view_graph_calibration.cc:147] 2 cameras are rejected in view graph calibration
I1113 19:21:09.925156 14761 view_graph_calibration.cc:181] invalid / total number of two view geometry: 3 / 89
-------------------------------------
Running relative pose estimation ...
-------------------------------------
I1113 19:21:09.926764 14761 image_undistorter.cc:20] Undistorting images..
I1113 19:21:09.930692 14761 image_undistorter.cc:44] Image undistortion done
I1113 19:21:09.932044 14761 relpose_estimation.cc:26] Estimating relative pose for 91 pairs
Estimating relative pose: 100%
I1113 19:21:15.687136 14761 relpose_estimation.cc:122] Estimating relative pose done
I1113 19:21:15.689946 14761 relpose_filter.cc:46] Filtered 14 relative poses with inlier number < 30
I1113 19:21:15.689968 14761 relpose_filter.cc:63] Filtered 0 relative poses with inlier ratio < 0.25
I1113 19:21:15.690016 14761 timer.cc:86] Elapsed time: 5.76433 [seconds]
-------------------------------------
Running rotation averaging ...
-------------------------------------
I1113 19:21:15.690048 14761 rotation_averager.cc:44] Total image pairs: 0, gravity image pairs: 0
I1113 19:21:15.694929 14761 relpose_filter.cc:31] Filtered 27 relative rotation with angle > 10 degrees
I1113 19:21:15.694984 14761 rotation_averager.cc:44] Total image pairs: 0, gravity image pairs: 0
I1113 19:21:15.695243 14761 relpose_filter.cc:31] Filtered 0 relative rotation with angle > 10 degrees
I1113 19:21:15.695269 14761 global_mapper.cc:113] 40 / 20 images are within the connected component.
I1113 19:21:15.695281 14761 timer.cc:86] Elapsed time: 0.00525 [seconds]
-------------------------------------
Running track establishment ...
-------------------------------------
Initializing pairs 107 / 107
Establishing pairs 107 / 107
Establishing tracks 37946 / 37946
I1113 19:21:15.749006 14761 track_establishment.cc:149] Discarded 6 tracks due to inconsistency
I1113 19:21:15.768522 14761 global_mapper.cc:133] Before filtering: 37946, after filtering: 19837
I1113 19:21:15.768563 14761 timer.cc:86] Elapsed time: 0.07328 [seconds]
-------------------------------------
Running global positioning ...
-------------------------------------
I1113 19:21:15.773082 14761 image_undistorter.cc:20] Undistorting images..
I1113 19:21:15.773159 14761 image_undistorter.cc:44] Image undistortion done
E1113 19:21:15.773742 14761 global_positioning.cc:35] Number of camera rigs = 20
I1113 19:21:15.776067 14761 global_positioning.cc:52] Setting up the global positioner problem
W1113 19:21:15.848694 14761 global_positioning.cc:512] Requested to use GPU for bundle adjustment, but Ceres was compiled without CUDA support. Falling back to CPU-based de
W1113 19:21:15.848770 14761 global_positioning.cc:529] Requested to use GPU for bundle adjustment, but Ceres was compiled without cuDSS support. Falling back to CPU-based s
I1113 19:21:15.848773 14761 global_positioning.cc:79] Solving the global positioner problem
I1113 19:21:25.149843 14761 global_positioning.cc:88] Ceres Solver Report: Iterations: 66, Initial cost: 5.714880e+05, Final cost: 1.655039e+01, Termination: CONVERGENCE
I1113 19:21:25.153563 14761 track_filter.cc:87] Filtered 4703 / 19837 tracks by angle error
I1113 19:21:25.155431 14761 track_filter.cc:124] Filtered 783 / 19837 tracks by too small triangulation angle
I1113 19:21:25.157932 14761 track_filter.cc:49] Filtered 49 / 19837 tracks by reprojection error
I1113 19:21:25.158118 14761 timer.cc:86] Elapsed time: 9.38567 [seconds]
-------------------------------------
Running bundle adjustment ...
-------------------------------------
I1113 19:21:25.205345 14761 global_mapper.cc:196] Bundle adjustment start
W1113 19:21:25.235986 14761 bundle_adjustment.cc:55] Requested to use GPU for bundle adjustment, but Ceres was compiled without CUDA support. Falling back to CPU-based dens
W1113 19:21:25.236054 14761 bundle_adjustment.cc:72] Requested to use GPU for bundle adjustment, but Ceres was compiled without cuDSS support. Falling back to CPU-based spa
I1113 19:21:26.372144 14761 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 30, Initial cost: 3.062842e+06, Final cost: 1.454823e+06, Termination: CONVERGENCE
I1113 19:21:26.372190 14761 global_mapper.cc:212] Global bundle adjustment iteration 1 / 3, stage 1 finished (position only)
I1113 19:21:26.372239 14761 timer.cc:86] Elapsed time: 1.16688 [seconds]
I1113 19:21:31.860244 14761 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 118, Initial cost: 1.454823e+06, Final cost: 7.179724e+04, Termination: CONVERGENCE
I1113 19:21:31.860298 14761 global_mapper.cc:224] Global bundle adjustment iteration 1 / 3, stage 2 finished
I1113 19:21:31.860302 14761 timer.cc:86] Elapsed time: 6.65495 [seconds]
I1113 19:21:31.861344 14761 image_undistorter.cc:20] Undistorting images..
I1113 19:21:31.863484 14761 image_undistorter.cc:44] Image undistortion done
I1113 19:21:31.863716 14761 global_mapper.cc:238] Filtering tracks by reprojection ...
I1113 19:21:31.866765 14761 track_filter.cc:49] Filtered 1419 / 19837 tracks by reprojection error
I1113 19:21:32.554118 14761 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 14, Initial cost: 6.590724e+04, Final cost: 6.584952e+04, Termination: CONVERGENCE
I1113 19:21:32.554175 14761 global_mapper.cc:212] Global bundle adjustment iteration 2 / 3, stage 1 finished (position only)
I1113 19:21:32.554179 14761 timer.cc:86] Elapsed time: 7.34882 [seconds]
I1113 19:21:33.244115 14761 bundle_adjustment.cc:103] Ceres Solver Report: Iterations: 12, Initial cost: 6.584952e+04, Final cost: 6.564459e+04, Termination: CONVERGENCE
I1113 19:21:33.244164 14761 global_mapper.cc:224] Global bundle adjustment iteration 2 / 3, stage 2 finished
I1113 19:21:33.244168 14761 timer.cc:86] Elapsed time: 8.03881 [seconds]
I1113 19:21:33.245056 14761 image_undistorter.cc:20] Undistorting images..
I1113 19:21:33.247424 14761 image_undistorter.cc:44] Image undistortion done
I1113 19:21:33.247658 14761 global_mapper.cc:238] Filtering tracks by reprojection ...
I1113 19:21:33.250438 14761 track_filter.cc:49] Filtered 9 / 19837 tracks by reprojection error
I1113 19:21:33.252727 14761 track_filter.cc:49] Filtered 49 / 19837 tracks by reprojection error
I1113 19:21:33.269822 14761 image_undistorter.cc:20] Undistorting images..
I1113 19:21:33.271999 14761 image_undistorter.cc:44] Image undistortion done
I1113 19:21:33.272576 14761 global_mapper.cc:264] Filtering tracks by reprojection ...
I1113 19:21:33.275648 14761 track_filter.cc:49] Filtered 0 / 19837 tracks by reprojection error
I1113 19:21:33.277594 14761 track_filter.cc:124] Filtered 4242 / 19837 tracks by too small triangulation angle
I1113 19:21:33.277626 14761 timer.cc:86] Elapsed time: 8.07227 [seconds]
-------------------------------------
Running retriangulation ...
-------------------------------------
I1113 19:21:33.278896 14761 database_cache.cc:67] Loading rigs...
I1113 19:21:33.279160 14761 database_cache.cc:77] 0 in 0.000s
I1113 19:21:33.279201 14761 database_cache.cc:85] Loading cameras...
I1113 19:21:33.279651 14761 database_cache.cc:103] 20 in 0.000s
I1113 19:21:33.279675 14761 database_cache.cc:111] Loading frames...
I1113 19:21:33.279865 14761 database_cache.cc:126] 0 in 0.000s
I1113 19:21:33.279886 14761 database_cache.cc:134] Loading matches...
I1113 19:21:33.280405 14761 database_cache.cc:139] 94 in 0.001s
I1113 19:21:33.280426 14761 database_cache.cc:155] Loading images...
I1113 19:21:33.383469 14761 database_cache.cc:239] 20 in 0.103s (connected 20)
I1113 19:21:33.383517 14761 database_cache.cc:250] Building correspondence graph...
I1113 19:21:33.397121 14761 database_cache.cc:277] in 0.014s (ignored 0)
E1113 19:21:33.402380 14761 reconstruction.cc:153] Check failed: existing_rig.RefSensorId() == rig.RefSensorId()
terminate called after throwing an instance of 'std::invalid_argument'
what(): [reconstruction.cc:153] Check failed: existing_rig.RefSensorId() == rig.RefSensorId()
*** Aborted at 1763061693 (unix time) try "date -d @1763061693" if you are using GNU date ***
PC: @ 0x0 (unknown)
*** SIGABRT (@0x3e8000039a9) received by PID 14761 (TID 0x7c6ac6431400) from PID 14761; stack trace: ***
@ 0x7c6ac8caf046 (unknown)
@ 0x7c6ac860d520 (unknown)
@ 0x7c6ac86619fc pthread_kill
@ 0x7c6ac860d476 raise
@ 0x7c6ac85f37f3 abort
@ 0x7c6ac899cb9e (unknown)
@ 0x7c6ac89a8277 std::terminate()
@ 0x7c6ac89a84d8 __cxa_throw
@ 0x58bf3d34d69e colmap::LogMessageFatalThrow<>::~LogMessageFatalThrow()
@ 0x58bf3d619a66 colmap::Reconstruction::Load()
@ 0x58bf3d468365 colmap::IncrementalMapper::BeginReconstruction()
@ 0x58bf3d356724 glomap::RetriangulateTracks()
@ 0x58bf3d335ab0 glomap::GlobalMapper::Solve()
@ 0x58bf3d32c09d glomap::RunMapper()
@ 0x58bf3d3266f8 main
@ 0x7c6ac85f4d90 (unknown)
@ 0x7c6ac85f4e40 __libc_start_main
@ 0x58bf3d328035 _start
Aborted (core dumped)
If any other information is needed, I can provide it.