Covisibility Matching 重建失败

[Oreki718]

大佬好，我在我自己的数据上尝试按照指示的方式进行基于 covisibility matching 的重建，结果显示重建失败。retrieval 文件已经按照 https://github.com/openxrlab/xrlocalization/blob/main/docs/en/tutorials/generate_image_pairs.md 进行了生成，并且在 retireval matching 成功生成了正确的重建效果。camera_colmap 由colmap重建校准生成，在 sequence 和 retrieval 下验证可用。

root@ea34e28b2deb:/home/xrsfm# ./bin/run_matching /home/xrsfm/data/IMG_0108/images/ /home/xrsfm/data/IMG_0108/pair.txt covisibility /home/xrsfm/data/IMG_0108/
Load Image Info Done.
Extract Features Done.
Load Retrieval Info Done.
matched image pairs: 843/893
Init Matching Done.
init: 843 893
////////Iter (0)/////////
frame number
cov_1: 275 cov_30: 193 cov_100:190
#covisiblity candidates: 826
#full candidates: 826
#filtered candidates: 826
matched image pairs: 1387/826
expansion: 826 1387 1719
precision: 80.6864
Time searching 0.138655s
Time matching 0.256098s
////////Iter (1)/////////
frame number
cov_1: 275 cov_30: 203 cov_100:199
#covisiblity candidates: 189
#full candidates: 189
#filtered candidates: 189
matched image pairs: 1446/189
expansion: 189 1446 1908
precision: 75.7862
Time searching 0.289261s
Time matching 0.389230s
////////Iter (2)/////////
frame number
cov_1: 275 cov_30: 257 cov_100:247
#covisiblity candidates: 399
#full candidates: 414
#filtered candidates: 414
matched image pairs: 1706/414
expansion: 414 1706 2322
precision: 73.4711
Time searching 0.449550s
Time matching 0.607309s
////////Iter (3)/////////
frame number
cov_1: 275 cov_30: 266 cov_100:259
#covisiblity candidates: 142
#full candidates: 142
#filtered candidates: 142
matched image pairs: 1720/142
expansion: 142 1720 2464
precision: 69.8052
Time searching 0.615087s
Time matching 0.729682s
////////Iter (4)/////////
frame number
cov_1: 275 cov_30: 274 cov_100:266
#covisiblity candidates: 82
#full candidates: 82
#filtered candidates: 82
matched image pairs: 1730/82
expansion: 82 1730 2546
precision: 67.9497
Time searching 0.780787s
Time matching 0.823036s
1.890187 s
root@ea34e28b2deb:/home/xrsfm# ./bin/run_reconstruction /home/xrsfm/data/IMG_0108/ /home/xrsfm/data/IMG_0108/camera_colmap.txt /home/xrsfm/data/IMG_0108/
Read Config Done!
ReadFramePairs
PreProcess Done!
Found Init Frame Pair -1 -1
276
Fail to Find Frame Pair!!!

调整初始pair后出错
root@ea34e28b2deb:/home/xrsfm# ./bin/run_reconstruction /home/xrsfm/data/IMG_0108/ /home/xrsfm/data/IMG_0108/camera_colmap.txt /home/xrsfm/data/IMG_0108/ 0 1
Read Config Done!
ReadFramePairs
PreProcess Done!
Init with Given Frames 0 1
NO SUCH FRAME PAIR
Found Init Frame Pair Done!
Initialize id1: 0 0001.png id2: 0 0001.png
Segmentation fault (core dumped)

[Oreki718]

Debug了一下，发现covisibility matching 导出的 frame_pairs 数量为0
root@ea34e28b2deb:/home/xrsfm# ./bin/run_reconstruction /home/xrsfm/data/IMG_0108/ /home/xrsfm/data/IMG_0108/camera_colmap.txt /home/xrsfm/data/IMG_0108/ 0 1
Read Config Done!
ReadFramePairs
Number of frames: 276
Number of frame pairs: 0
PreProcess Done!
Init with Given Frames 0 1
NO SUCH FRAME PAIR
Found Init Frame Pair Done!
Initialize id1: 0 0001.png id2: 0 0001.png
Segmentation fault (core dumped)

[SueeH]

您好，请问上述问题解决了吗？ @Oreki718
用官方给出的样例数据，跑sequential全部流程都正常，当时跑covisibility有同样的问题。

1. 利用xrlocalization执行的结果如下：

2. ./bin/run_matching /root/dataset/xrsfm_test_data/images/ /root/dataset/xrsfm_test_data/covisibility/pair.txt covisibility /root/dataset/xrsfm_test_data/covisibility/ 的结果：
   Load Image Info Done.
   Extract Features Done.
   Load Retrieval Info Done.
   matched image pairs: 1665/1665
   Init Matching Done.
   init: 1665 1665
   ////////Iter (0)/////////
   frame number
   cov_1: 540 cov_30: 540 cov_100:540
   #covisiblity candidates: 185
   #full candidates: 185
   #filtered candidates: 185
   matched image pairs: 1850/185
   expansion: 185 1850 1850
   precision: 100
   Time searching 2.839836s
   Time matching 0.336176s
   ////////Iter (1)/////////
   frame number
   cov_1: 540 cov_30: 540 cov_100:540
   #covisiblity candidates: 0
   #full candidates: 0
   #filtered candidates: 0
   matched image pairs: 1850/0
   expansion: 0 1850 1850
   precision: 100
   Time searching 5.789542s
   Time matching 0.696762s
   ////////Iter (2)/////////
   frame number
   cov_1: 540 cov_30: 540 cov_100:540
   #covisiblity candidates: 0
   #full candidates: 0
   #filtered candidates: 0
   matched image pairs: 1850/0
   expansion: 0 1850 1850
   precision: 100
   Time searching 8.734036s
   Time matching 1.017818s
   ////////Iter (3)/////////
   frame number
   cov_1: 540 cov_30: 540 cov_100:540
   #covisiblity candidates: 0
   #full candidates: 0
   #filtered candidates: 0
   matched image pairs: 1850/0
   expansion: 0 1850 1850
   precision: 100
   Time searching 11.694786s
   Time matching 1.394736s
   ////////Iter (4)/////////
   frame number
   cov_1: 540 cov_30: 540 cov_100:540
   #covisiblity candidates: 0
   #full candidates: 0
   #filtered candidates: 0
   matched image pairs: 1850/0
   expansion: 0 1850 1850
   precision: 100
   Time searching 14.653824s
   Time matching 1.780189s
   17.411080 s
3. ./bin/run_reconstruction /root/dataset/xrsfm_test_data/covisibility/ /root/dataset/xrsfm_test_data/camera_colmap.txt /root/dataset/xrsfm_test_data/covisibility/ 0 1 的结果如下（其中内参是用测试代码重新生成的内参）：
   Read Config Done!
   ReadFramePairs
   PreProcess Done!
   Found Init Frame Pair -1 -1
   540
   Fail to Find Frame Pair!!!