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<!DOCTYPE html>
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<meta property="og:url" content="https://colmap.github.io/rigs.html" />
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<meta property="og:description" content="COLMAP has native support for modeling sensor rigs during the reconstruction process. The sensors in a rig are assumed to have fixed relative poses between each other with one reference sensor defi..." />
<meta property="og:image" content="https://colmap.github.io/_static/og-image.png" />
<meta property="og:image:alt" content="COLMAP — Structure-from-Motion & Multi-View Stereo" />
<meta name="description" content="COLMAP has native support for modeling sensor rigs during the reconstruction process. The sensors in a rig are assumed to have fixed relative poses between each other with one reference sensor defi..." />
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<section id="rig-support">
<span id="id1"></span><h1>Rig Support<a class="headerlink" href="#rig-support" title="Link to this heading">#</a></h1>
<p>COLMAP has native support for modeling sensor rigs during the reconstruction
process. The sensors in a rig are assumed to have fixed relative poses between
each other with one reference sensor defining the origin of the rig. A frame
defines a specific instance of the rig with all or a subset of sensors exposed
at the same time. For example, in a stereo camera rig, one camera would be
defined as the reference sensor and have an identity <code class="docutils literal notranslate"><span class="pre">sensor_from_rig</span></code> pose,
whereas the second camera would be posed relative to the reference camera. Each
frame would then usually be composed of two images as the measurements of both
of the cameras at the same time.</p>
<section id="workflow">
<h2>Workflow<a class="headerlink" href="#workflow" title="Link to this heading">#</a></h2>
<p>By default, when running the standard reconstruction pipeline, each camera is
modeled with a separate rig and thus each frame contains only a single image. To
model rigs, the recommended workflow is to organize images by rigs and cameras
in a folder structure as follows (ensure that images corresponding to the same
frame have identical filenames across all folders):</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">rig1</span><span class="o">/</span>
<span class="n">camera1</span><span class="o">/</span>
<span class="n">image0001</span><span class="o">.</span><span class="n">jpg</span>
<span class="n">image0002</span><span class="o">.</span><span class="n">jpg</span>
<span class="o">...</span>
<span class="n">camera2</span><span class="o">/</span>
<span class="n">image0001</span><span class="o">.</span><span class="n">jpg</span> <span class="c1"># same frame as camera1/image0001.jpg</span>
<span class="n">image0002</span><span class="o">.</span><span class="n">jpg</span> <span class="c1"># same frame as camera1/image0002.jpg</span>
<span class="o">...</span>
<span class="o">...</span>
<span class="n">rig2</span><span class="o">/</span>
<span class="n">camera1</span><span class="o">/</span>
<span class="o">...</span>
<span class="o">...</span>
<span class="o">...</span>
</pre></div>
</div>
<p>As a next step, we would first extract features using:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>colmap feature_extractor \
--image_path $DATASET_PATH/images \
--database_path $DATASET_PATH/database.db \
--ImageReader.single_camera_per_folder 1
</pre></div>
</div>
<p>By default, the resulting database now contains a separate rig for each camera
and a separate frame for each image. As such, we must adjust the relationships
in the database with the desired rig configuration. This is done using:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>colmap rig_configurator \
--database_path $DATASET_PATH/database.db \
--rig_config_path $DATASET_PATH/rig_config.json
</pre></div>
</div>
<p>where the <code class="docutils literal notranslate"><span class="pre">rig_config.json</span></code> could look as follows, if the relative sensor poses
in the rig are known a priori:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span>
<span class="p">{</span>
<span class="s2">"cameras"</span><span class="p">:</span> <span class="p">[</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"rig1/camera1/"</span><span class="p">,</span>
<span class="s2">"ref_sensor"</span><span class="p">:</span> <span class="n">true</span>
<span class="p">},</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"rig1/camera2/"</span><span class="p">,</span>
<span class="s2">"cam_from_rig_rotation"</span><span class="p">:</span> <span class="p">[</span>
<span class="mf">0.7071067811865475</span><span class="p">,</span>
<span class="mf">0.0</span><span class="p">,</span>
<span class="mf">0.7071067811865476</span><span class="p">,</span>
<span class="mf">0.0</span>
<span class="p">],</span>
<span class="s2">"cam_from_rig_translation"</span><span class="p">:</span> <span class="p">[</span>
<span class="mi">0</span><span class="p">,</span>
<span class="mi">0</span><span class="p">,</span>
<span class="mi">0</span>
<span class="p">]</span>
<span class="p">}</span>
<span class="p">]</span>
<span class="p">},</span>
<span class="p">{</span>
<span class="s2">"cameras"</span><span class="p">:</span> <span class="p">[</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"rig2/camera1/"</span><span class="p">,</span>
<span class="s2">"ref_sensor"</span><span class="p">:</span> <span class="n">true</span>
<span class="p">},</span>
<span class="o">...</span>
<span class="p">]</span>
<span class="p">},</span>
<span class="o">...</span>
<span class="p">]</span>
</pre></div>
</div>
<p>Notice that this modifies the rig and frame configuration in the database, which
contains the full specification of rigs that we later feed as an input to
downstream processing steps.</p>
<p>With known calibrated camera parameters, each camera can optionally also have
specified <code class="docutils literal notranslate"><span class="pre">camera_model_name</span></code> and <code class="docutils literal notranslate"><span class="pre">camera_params</span></code> fields.</p>
<p>For more fine-grain configuration of rigs and frames, the most convenient option
is to manually configure the database using pycolmap by either using the
<code class="docutils literal notranslate"><span class="pre">apply_rig_config</span></code> function or by individually adding the desired rig and frame
objects to the reconstruction for the most flexibility.</p>
<p>Next, we run standard feature matching. Note that it is important to configure
the rigs before sequential feature matching, as images in consecutive frames will
be automatically matched against each other.</p>
<p>Finally, we can reconstruct the scene using the standard <code class="docutils literal notranslate"><span class="pre">mapper</span></code> command with
the option of keeping the relative poses in the rig fixed using
<code class="docutils literal notranslate"><span class="pre">--Mapper.ba_refine_sensor_from_rig</span> <span class="pre">0</span></code>.</p>
</section>
<section id="unknown-rig-sensor-poses">
<h2>Unknown rig sensor poses<a class="headerlink" href="#unknown-rig-sensor-poses" title="Link to this heading">#</a></h2>
<p>If the relative poses of sensors in the rig are not known a priori and we only
know that a specific set of sensors are rigidly mounted and exposed at the same
time, one can attempt the following two-step reconstruction approach. Before
starting, ensure to organize your images as detailed above and perform feature
extraction with the <code class="docutils literal notranslate"><span class="pre">--ImageReader.single_camera_per_folder</span> <span class="pre">1</span></code> option.</p>
<p>Next, reconstruct the scene without rig constraints by modeling each camera as
its own rig (the default behavior of COLMAP without further configuration). Note
that this can be a partial reconstruction from a subset of the full set of input
images. The only requirement is that each camera must have at least one
registered image in the same frame with a registered image of the reference
camera. If the reconstruction was successful and the relative poses between
registered images look roughly correct, we can proceed with the next step.</p>
<p>The <code class="docutils literal notranslate"><span class="pre">rig_configurator</span></code> can also work without <code class="docutils literal notranslate"><span class="pre">cam_from_rig_*</span></code> transformations.
By providing an existing (partial) reconstruction of the scene, it can compute
the average relative rig sensor poses from all registered images:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>colmap rig_configurator \
--database_path $DATASET_PATH/database.db \
--input_path $DATASET_PATH/sparse-model-without-rigs-and-frames \
--rig_config_path $DATASET_PATH/rig_config.json \
[ --output_path $DATASET_PATH/sparse-model-with-rigs-and-frames ]
</pre></div>
</div>
<p>The provided <code class="docutils literal notranslate"><span class="pre">rig_config.json</span></code> must simply omit the respective
<code class="docutils literal notranslate"><span class="pre">cam_from_rig_rotation</span></code> and <code class="docutils literal notranslate"><span class="pre">cam_from_rig_translation</span></code> fields.</p>
<p>Now, we can either run rig bundle adjustment on the (optional) output
reconstruction with configured rigs and frames:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>colmap bundle_adjuster \
--input_path $DATASET_PATH/sparse-model-with-rigs-and-frames \
--output_path $DATASET_PATH/bundled-sparse-model-with-rigs-and-frames
</pre></div>
</div>
<p>or alternatively start the reconstruction process from scratch with rig
constraints, which may lead to more accurate reconstruction results:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>colmap mapper
--image_path $DATASET_PATH/images \
--database_path $DATASET_PATH/database.db \
--output_path $DATASET_PATH/sparse-model-with-rigs-and-frames
</pre></div>
</div>
</section>
<section id="example">
<h2>Example<a class="headerlink" href="#example" title="Link to this heading">#</a></h2>
<p>The following example shows an end-to-end example for how to reconstruct one of
the ETH3D rig datasets using COLMAP’s rig support:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">wget</span> <span class="n">https</span><span class="p">:</span><span class="o">//</span><span class="n">www</span><span class="o">.</span><span class="n">eth3d</span><span class="o">.</span><span class="n">net</span><span class="o">/</span><span class="n">data</span><span class="o">/</span><span class="n">terrains_rig_undistorted</span><span class="mf">.7</span><span class="n">z</span>
<span class="mi">7</span><span class="n">zz</span> <span class="n">x</span> <span class="n">terrains_rig_undistorted</span><span class="mf">.7</span><span class="n">z</span>
<span class="n">colmap</span> <span class="n">feature_extractor</span> \
<span class="o">--</span><span class="n">database_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">database</span><span class="o">.</span><span class="n">db</span> \
<span class="o">--</span><span class="n">image_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">images</span> \
<span class="o">--</span><span class="n">ImageReader</span><span class="o">.</span><span class="n">single_camera_per_folder</span> <span class="mi">1</span>
</pre></div>
</div>
<p>The ETH3D dataset conveniently comes with a groundtruth COLMAP reconstruction
that we use to configure the sensor rig poses as well as camera models using:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">colmap</span> <span class="n">rig_configurator</span> \
<span class="o">--</span><span class="n">database_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">database</span><span class="o">.</span><span class="n">db</span> \
<span class="o">--</span><span class="n">rig_config_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">rig_config</span><span class="o">.</span><span class="n">json</span> \
<span class="o">--</span><span class="n">input_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">rig_calibration_undistorted</span>
</pre></div>
</div>
<p>with the <code class="docutils literal notranslate"><span class="pre">rig_config.json</span></code>:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="p">[</span>
<span class="p">{</span>
<span class="s2">"cameras"</span><span class="p">:</span> <span class="p">[</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"images_rig_cam4_undistorted/"</span><span class="p">,</span>
<span class="s2">"ref_sensor"</span><span class="p">:</span> <span class="n">true</span>
<span class="p">},</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"images_rig_cam5_undistorted/"</span>
<span class="p">},</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"images_rig_cam6_undistorted/"</span>
<span class="p">},</span>
<span class="p">{</span>
<span class="s2">"image_prefix"</span><span class="p">:</span> <span class="s2">"images_rig_cam7_undistorted/"</span>
<span class="p">}</span>
<span class="p">]</span>
<span class="p">}</span>
<span class="p">]</span>
</pre></div>
</div>
<p>Notice that we do not specify the sensor poses, because we used an existing
reconstruction (in this case, the groundtruth but it can also be a
reconstruction without rig constraints, as explained in the previous section) to
automatically infer the average rig extrinsics and camera parameters.</p>
<p>Next, we sequentially match the frames, since they were captured as a video:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">colmap</span> <span class="n">sequential_matcher</span> <span class="o">--</span><span class="n">database_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">database</span><span class="o">.</span><span class="n">db</span>
</pre></div>
</div>
<p>Depending on the accuracy of the provided sensor_from_rig poses, you can optionally
enable the option <cite>–FeatureMatching.rig_verification 1</cite> or, if you know that the
sensors within the same frame do not have visual overlap, you can enable the option
<cite>–FeatureMatching.skip_image_pairs_in_same_frame 1</cite>.</p>
<p>Finally, we reconstruct the scene using the mapper while keeping the groundtruth
sensor rig poses and camera parameters fixed:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">mkdir</span> <span class="o">-</span><span class="n">p</span> <span class="n">terrains</span><span class="o">/</span><span class="n">sparse</span>
<span class="n">colmap</span> <span class="n">mapper</span> \
<span class="o">--</span><span class="n">database_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">database</span><span class="o">.</span><span class="n">db</span> \
<span class="o">--</span><span class="n">Mapper</span><span class="o">.</span><span class="n">ba_refine_sensor_from_rig</span> <span class="mi">0</span> \
<span class="o">--</span><span class="n">Mapper</span><span class="o">.</span><span class="n">ba_refine_focal_length</span> <span class="mi">0</span> \
<span class="o">--</span><span class="n">Mapper</span><span class="o">.</span><span class="n">ba_refine_extra_params</span> <span class="mi">0</span> \
<span class="o">--</span><span class="n">image_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">images</span> \
<span class="o">--</span><span class="n">output_path</span> <span class="n">terrains</span><span class="o">/</span><span class="n">sparse</span>
</pre></div>
</div>
</section>
<section id="reconstruction-from-360-spherical-images">
<h2>Reconstruction from 360° spherical images<a class="headerlink" href="#reconstruction-from-360-spherical-images" title="Link to this heading">#</a></h2>
<p>COLMAP can handle collections of 360° panoramas by rendering virtual pinhole
images (similar to a cubemap) and treating them as a camera rig. Since the rig
extrinsics and camera intrinsics are known, the reconstruction process is more
robust. We provide an example Python script to reconstruct a 360° collection:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">python</span> <span class="n">python</span><span class="o">/</span><span class="n">examples</span><span class="o">/</span><span class="n">panorama_sfm</span><span class="o">.</span><span class="n">py</span> \
<span class="o">--</span><span class="n">input_image_path</span> <span class="n">image_directory</span> \
<span class="o">--</span><span class="n">output_path</span> <span class="n">output_directory</span>
</pre></div>
</div>
<p>Make sure to use the version of the script that corresponds to the version of
COLMAP that you are using, as the script at HEAD is not guaranteed to be
compatible.</p>
</section>
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