Repository navigation
Keep division-camera derivatives finite on the optical axis - #4888
Merged
ahojnnes merged 1 commit intoOct 28, 2026
Merged
Conversation
aswanth-07
marked this pull request as ready for review
October 24, 2026 01:00
ahojnnes
approved these changes
Oct 28, 2026
ahojnnes
enabled auto-merge (squash)
October 28, 2026 09:58
fringehush-gif
added a commit
to fringehush-gif/colmap
that referenced
this pull request
Nov 3, 2026
## Summary - Integrate all 12 upstream commits after the shared base 9371f7b, including LoMa BF16 loading, matching-worker error propagation, keypoint shape scaling, and project-file CLI overrides. - Preserve the fork's CUDA blocking-sync helper alongside upstream's BF16 device check and register the shared CUDA test once. ## Validation - Resolved all merge conflicts; no conflict markers or unmerged paths remain; git diff --check passes. - Incremental Linux CUDA build linked six focused test executables. The prepared custom Ceres closure required its existing Abseil/CUDA library directories on the linker's search path. - CTest passed controllers/base_option_manager_test, feature_matching_utils_test, incremental_pipeline_test, option_manager_test, feature/loma_test, and util/cuda_test (six programs, one run each). - No full suite, Python binding, end-to-end, or performance claim. ## Upstream commits - `ea470c0c4f4a40a3bdfa33d01eb38375c5df64de` Run Windows and remaining pycolmap CI only with the full-ci label (colmap#4904) - `c0339e95482c404b51f38ff9b86866de495984f0` Fix MSVC warnings C4805, C4996, and C4756 (colmap#4910) - `f00d6063bb0b120cf10ee190f7f06f4a34edf432` Expose Ceres solver thresholds in incremental mapping (colmap#4892) - `978a4467f36bbfc9ae18780f2dca253000b0d008` Keep division-camera derivatives finite on the optical axis (colmap#4888) - `98f31541f483788ab550f5c4a4e0804e8674b9e0` Fix leak and check covariance in CovarianceWeightedCostFunction (colmap#4911) - `a467519441171054c7aaa17dffe86fe06431f05c` Avoid stack overflow when compressing union-find chains (colmap#4906) - `404b83db2c2cc04892e14a578ddfa73e0ac9bfb1` Fix LoMa bf16 fallback on CUDA by loading it like any other model (colmap#4924) - `d02e6701dede22eaeee89f73784a8c79f6f289ac` Add max_num_features option to automatic_reconstructor and benchmark (colmap#4907) - `82c3b5db78d96a7e93ca7b8b2af0634e28aa33f4` Propagate errors of feature matching workers instead of terminating (colmap#4921) - `4afe8d1156a71a2ff33974895f221c8eb3740cb1` Rescale keypoint shapes in image coordinates (colmap#4926) - `ce2b5ab9df3801c2b75edbba338c04ad3c8cc6af` Fix vocabulary tree builder descriptor dimensions (colmap#4923) - `f956ce629c21a88d75a7f7b3107298d1faf3dcf3` Fix command-line overrides for project files (colmap#4902)
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
SIMPLE_DIVISIONandDIVISIONproject(0, 0, w)correctly for positive depth, but Ceres automatic differentiation returns NaN Jacobians. This reaches rig reprojection and fixed-point reprojection cost functions even with zero distortion. Ordinary bundle adjustment uses the existing analytic derivatives and is unaffected.Both projection templates compute
sqrt(u*u + v*v)and then square it again. The intermediate square root has an undefined derivative at zero, although the squared-radius expression in the division model is smooth there. I useu*u + v*vdirectly in both templates, matching the existing analytic implementation.I added exact optical-axis inputs to the camera-Jacobian test helper. Its floating-point grid steps from
-0.5by0.1and misses exact zero. Both division-model tests fail on unchanged production code and pass with this correction. Parameter order, model IDs, projection branch selection and stored camera files stay unchanged.Validation on Windows with MSVC, Eigen 3.4 and Ceres 2.2:
models_test.exe --gtest_brief=1,models_jacobian_test.exe --gtest_brief=1andreprojection_error_test.exe --gtest_brief=1.1e-12*(1+abs(base)). Six negative-discriminant controls remain rejected, and repeated fresh-process outputs match.git diff --checkpass.The full COLMAP build, reconstruction datasets, Python-extension build, GPU paths and other operating systems were not tested locally.
AI assistance disclosure: AI-assisted development tools were used during investigation and implementation. The reported tests were run against the final diff.