| # COLMAP Config |
|
|
| Trimmed from `colmap_default.yaml`. Same YAML format as the original — copy the block |
| below into a `.yaml` file to use it. |
|
|
| Removed on purpose: experiment block, all feature extraction/matching detail except the |
| GPU switches, all input/output path blocks, Hydra settings. Paths must now be supplied |
| by the caller (CLI override, or a wrapper config) — this file alone is not runnable. |
|
|
| ```yaml |
| # ── Pipeline flags ──────────────────────────────────────────────────────────── |
| random_seed: 0 |
| |
| # ── Stage toggles (can also be driven by pipeline.yaml) ─────────────────────── |
| run: |
| colmap_feat_extract_match: true |
| colmap_reconstruct: true |
| |
| # ── Feature extraction / matching ───────────────────────────────────────────── |
| # GPU instead of CPU. All other extraction/matching options dropped -> COLMAP defaults. |
| feat_extract_match: |
| extraction: |
| device: cuda |
| matching: |
| use_gpu: true |
| |
| # ── Reconstruction ──────────────────────────────────────────────────────────── |
| # Priors are loaded as a STARTING POINT only, not frozen: COLMAP refines both poses |
| # and intrinsics during bundle adjustment and may move them away from the priors. |
| reconstruction: |
| mode: automatic # triangulate | automatic |
| load_prior_poses: true # automatic mode only: seed with known robot poses |
| load_prior_intrinsics: true # seed with known camera intrinsics |
| refine_intrinsics: true # keep true -> intrinsics stay free, not locked to prior |
| mapping_params: |
| min_focal_length_ratio: 0.1 |
| max_focal_length_ratio: 10.0 |
| max_extra_param: .inf |
| ba_local_max_num_iterations: 30 |
| ba_local_max_refinements: 3 |
| ba_global_max_num_iterations: 75 |
| num_threads: 1 |
| ``` |
|
|
| ## Notes for whoever runs this |
|
|
| - **`mode: automatic` is required for the pose priors.** `load_prior_poses` is |
| ignored in `triangulate` mode, per the original comment. Changing `mode` silently |
| drops the pose priors. |
| - **"Don't freeze" is `refine_intrinsics: true`.** Setting it to `false` pins intrinsics |
| to the prior values, which is the opposite of what this config is for. |
| - **`ba_use_gpu` is deliberately absent** from `mapping_params` — bundle adjustment is left |
| to whatever the implementation defaults to. Only feature extraction and matching are |
| pinned to GPU. Do not add a `ba_use_gpu` key back in. |
| |
