Adding glomap support to ns-process-data, works with COLMAP 3.8!

nerfstudio/process_data/colmap_converter_to_nerfstudio_dataset.py

@@ -35,7 +35,7 @@ class ColmapConverterToNerfstudioDataset(BaseConverterToNerfstudioDataset):
     """Feature matching method to use. Vocab tree is recommended for a balance of speed
     and accuracy. Exhaustive is slower but more accurate. Sequential is faster but
     should only be used for videos."""
-    sfm_tool: Literal["any", "colmap", "hloc"] = "any"
+    sfm_tool: Literal["any", "colmap", "glomap", "hloc"] = "any"
     """Structure from motion tool to use. Colmap will use sift features, hloc can use
     many modern methods such as superpoint features and superglue matcher"""
     refine_pixsfm: bool = False
@@ -222,6 +222,19 @@ def _run_colmap(self, mask_path: Optional[Path] = None):
                 refine_intrinsics=self.refine_intrinsics,
                 colmap_cmd=self.colmap_cmd,
             )
+        elif sfm_tool == "glomap":
+            colmap_utils.run_colmap(
+                image_dir=image_dir,
+                colmap_dir=self.absolute_colmap_path,
+                camera_model=CAMERA_MODELS[self.camera_type],
+                camera_mask_path=mask_path,
+                gpu=self.gpu,
+                verbose=self.verbose,
+                matching_method=self.matching_method,
+                refine_intrinsics=self.refine_intrinsics,
+                colmap_cmd=self.colmap_cmd,
+                glomap_toggle=True,
+            )
         elif sfm_tool == "hloc":
             if mask_path is not None:
                 raise RuntimeError("Cannot use a mask with hloc. Please remove the cropping options " "and try again.")

nerfstudio/process_data/colmap_utils.py

@@ -99,6 +99,7 @@
     matching_method: Literal["vocab_tree", "exhaustive", "sequential"] = "vocab_tree",
     refine_intrinsics: bool = True,
     colmap_cmd: str = "colmap",
+    glomap_toggle: bool = False,
 ) -> None:
     """Runs COLMAP on the images.
 
@@ -153,12 +154,20 @@
     # Bundle adjustment
     sparse_dir = colmap_dir / "sparse"
     sparse_dir.mkdir(parents=True, exist_ok=True)
-    mapper_cmd = [
-        f"{colmap_cmd} mapper",
-        f"--database_path {colmap_dir / 'database.db'}",
-        f"--image_path {image_dir}",
-        f"--output_path {sparse_dir}",
-    ]
+    if glomap_toggle:
+        mapper_cmd = [
+            f"glomap mapper",
+            f"--database_path {colmap_dir / 'database.db'}",
+            f"--image_path {image_dir}",
+            f"--output_path {sparse_dir}",
+        ]
+    else:
+        mapper_cmd = [
+            f"{colmap_cmd} mapper",
+            f"--database_path {colmap_dir / 'database.db'}",
+            f"--image_path {image_dir}",
+            f"--output_path {sparse_dir}",
+        ]
     if colmap_version >= Version("3.7"):
         mapper_cmd.append("--Mapper.ba_global_function_tolerance=1e-6")