8000 Observation manager needs to check if image_id exists before query operations by bo-rc · Pull Request #2704 · colmap/colmap · GitHub
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Observation manager needs to check if image_id exists before query operations #2704

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Merged
merged 3 commits into from
Aug 13, 2024
Merged

Observation manager needs to check if image_id exists before query operations #2704

merged 3 commits into from
Aug 13, 2024

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bo-rc
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@bo-rc bo-rc commented Aug 12, 2024 •
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This potential bug was discovered when I tried to use colmap point_triangulator command to perform 3d reconstruction with known camera poses, following this guide

I think the issue is the following:

  • user-provided images.txt with known poses can include all images in a dataset.
  • However for database cache creation (database_cache.cc line 145), some of the images may be skipped due to lack of connections.
  • The combination of the above two may create a discrepancy in this usecase.

The error message I had is:

==============================================================================
Loading model
==============================================================================
I0812 12:24:24.535923 202389 incremental_mapper.cc:225] Loading database
I0812 12:24:24.537750 202389 database_cache.cc:65] Loading cameras...
I0812 12:24:24.537819 202389 database_cache.cc:75]  5 in 0.000s
I0812 12:24:24.537863 202389 database_cache.cc:83] Loading matches...
I0812 12:24:24.557704 202389 database_cache.cc:89]  4663 in 0.020s
I0812 12:24:24.557758 202389 database_cache.cc:105] Loading images...
I0812 12:24:24.638643 202389 database_cache.cc:155]  355 in 0.081s (connected 354)
I0812 12:24:24.638706 202389 database_cache.cc:166] Building correspondence graph...
I0812 12:24:24.796042 202389 database_cache.cc:195]  in 0.157s (ignored 0)
I0812 12:24:24.796790 202389 timer.cc:91] Elapsed time: 0.004 [minutes]
terminate called after throwing an instance of 'std::out_of_range'
  what():  _Map_base::at
*** Aborted at 1723490664 (unix time) try "date -d @1723490664" if you are using GNU date ***
PC: @                0x0 (unknown)
*** SIGABRT (@0x3e800031695) received by PID 202389 (TID 0x7c34fcd3a000) from PID 202389; stack trace: ***
    @     0x7c3542786046 (unknown)
    @     0x7c351f042520 (unknown)
    @     0x7c351f0969fc pthread_kill
    @     0x7c351f042476 raise
    @     0x7c351f0287f3 abort
    @     0x7c351f4a2b9e (unknown)
    @     0x7c351f4ae20c (unknown)
    @     0x7c351f4ae277 std::terminate()
    @     0x7c351f4ae4d8 __cxa_throw
    @     0x7c351f4a54a0 std::__throw_out_of_range()
    @     0x5a2c07386c92 colmap::ObservationManager::ObservationManager()
    @     0x5a2c07379b86 colmap::IncrementalMapper::BeginReconstruction()
    @     0x5a2c073051bb colmap::IncrementalMapperController::TriangulateReconstruction()
    @     0x5a2c07229510 colmap::RunPointTriangulatorImpl()
    @     0x5a2c07229b11 colmap::RunPointTriangulator()
    @     0x5a2c0720bd68 m
8000
ain
    @     0x7c351f029d90 (unknown)
    @     0x7c351f029e40 __libc_start_main
    @     0x5a2c072128d5 _start
Aborted (core dumped)

Through debugging the issue is pinned at line 83 observation_manager.cc

Adding a check fixed the problem I had.

Any thoughts?

@ahojnnes
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This makes sense. Thank you.

@ahojnnes ahojnnes enabled auto-merge (squash) August 13, 2024 11:55
@sarlinpe sarlinpe mentioned this pull request Aug 13, 2024
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@sarlinpe
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Good catch, thanks a lot. This should solve #2670.

@ahojnnes ahojnnes merged commit 91f4461 into colmap:main Aug 13, 2024
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@bo-rc bo-rc mentioned this pull request Aug 14, 2024
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@sarlinpe sarlinpe mentioned this pull request Aug 27, 2024
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@liushuo1201
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Hello, I am still encountering this problem with the latest code. Do you have any ideas

@sarlinpe sarlinpe mentioned this pull request Nov 4, 2024
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@liushuo1201 did you try the code at HEAD? if so, could you share some data such that we can reproduce it?

@B1ueber2y B1ueber2y mentioned this pull request Nov 27, 2024
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@BrewTestBot BrewTestBot mentioned this pull request Nov 28, 2024
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