pixel-perfect-sfm
ceres-solver
pixel-perfect-sfm | ceres-solver | |
---|---|---|
4 | 8 | |
1,246 | 3,608 | |
1.8% | 1.6% | |
4.2 | 8.1 | |
about 2 months ago | 13 days ago | |
C++ | C++ | |
Apache License 2.0 | 3-Clause BSD License |
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pixel-perfect-sfm
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On replacing Colmap
Are there alternatives available to the SfM pipeline? https://github.com/cvg/pixel-perfect-sfm for instance takes a deep NN to predict surfaces in the dense step ( not needed for GSplats), is a trained approach for spare reconstruction thinkable, are there other SfM methods that are significantly faster or find more features?
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[advice] lost in the field
If you are interested in camera pose estimation from images, then the state of the art baseline is still Colmap which is used by industry and research. You can checkout concurrent work like https://github.com/cvg/pixel-perfect-sfm. Should be a lot of tutorials and documentation for you to get it running.
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Photometric Bundle Adjustment library?
Finally there is also https://github.com/cvg/pixel-perfect-sfm which does do some photometric/dense refinement, but I think it only works in the featuremetric space. So not exactly photometric.
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Questions for SLAM/SfM for Dense 3D Reconstruction (DSO vs ORB, Monofusion etc.)
I've stumbled upon this and that using DL, and will try to check to simultaneously evaluate them next to developing something using pySLAM. At least that's the current plan.
ceres-solver
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The Elements of Differentiable Programming
I can't reply to the guy saying julia is the only one. But there are others.
Ceres uses dual numbers
https://github.com/ceres-solver/ceres-solver/blob/master/inc...
This library from google is used everywhere in robotics, so it's hardly some backwater little side project.
So does c++ autodiff
- A large scale non-linear optimization library
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Photometric Bundle Adjustment library?
http://ceres-solver.org (if you want to implement it manually, see tutorials & openCV sfm module)
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Gradients Without Backpropagation
http://ceres-solver.org/ works well, in my experience.
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Is there a library for non-linear optimization in Rust?
Hey, people! I was wondering if there is a library for non-linear optimization, equivalent to that for Ceres Solver that you have in C++?
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What libraries do you miss from other languages?
I've not yet seen anything comparable to http://ceres-solver.org/
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Non-linear equation solver for microcontrollers
Disclaimer: I'm one of the authors of Ceres Solver which is widely used for solving computational geometry problems in computer vision. I also wrote TinySolver. And nowadays, I focus on Pigweed; a collection of embedded libraries targeting high-volume consumer electronics products. It's fun to see an overlap of these two areas expertise!
What are some alternatives?
colmap - COLMAP - Structure-from-Motion and Multi-View Stereo
Eigen
OpenChisel - An open-source version of the Chisel chunked TSDF library.
casadi - CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
ov2slam - OVĀ²SLAM is a Fully Online and Versatile Visual SLAM for Real-Time Applications
GLM - OpenGL Mathematics (GLM)
pyslam - pySLAM contains a monocular Visual Odometry (VO) pipeline in Python. It supports many modern local features based on Deep Learning.
OpenBLAS - OpenBLAS is an optimized BLAS library based on GotoBLAS2 1.13 BSD version.
MegBA - MegBA: A GPU-Based Distributed Library for Large-Scale Bundle Adjustment
QuantLib - The QuantLib C++ library
voxblox - A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.
CGal - The public CGAL repository, see the README below