GoMa (Geometric Matching)

About

goma is a geometric library that implements various single-view (e.g. vanishing point estimation) and two-view geometry (e.g. homography) functions.

The code is heavily based on COLMAP: it adopts a similiar file structure and whenever possible, the code links to the relevant colmap structs, classes and functions (e.g. colmap::CameraModel) or edits the existing ones (e.g. Image) to accomodate the geometric functionalities in goma while minimizing the code complexity by removing code that is not directly necessary.

Installation

The code has been tested under Ubuntu 18.04 with cmake 3.10, gcc-7.5.0, CUDA-10.0, and COLMAP 3.7.

Requirements

Colmap

The current version of the code is compatible with COLMAP 3.7. To install it, please follow the instructions in the colmap website

Build

cmake .
make

Usage

Run ./bin/goma to list all available commands.

Examples

See examples in scripts/ that can be used on the provided data sample.

Download the data sample and place the content under data/.

Commands

• line_segment_detector: LSD line segment detection
• vanishing_point_detector: Estimates vanishing points in the image. Assumes that there is only one vertical vanishing points but there is no Manhattan or Atlanta assumption.
• planewise_homography_estimator: Given a set of matching 3D planes, their vanishing directions and a set of point matches between the planes, estimates a homography between plane pairs where the homography is constrained by the planes' vanishing directions.

Citation

If you use this project for your research, please cite:

• the relevant COLMAP references
• the following publication:

@inproceedings{benbihi2022object,
  title={Object-Guided Day-Night Visual localization in Urban Scenes},
  author={Benbihi, Assia and Pradalier, C{\'e}dric and Chum, Ond{\v{r}}ej},
  booktitle={2022 26th International Conference on Pattern Recognition (ICPR)},
  pages={3786--3793},
  year={2022},
  organization={IEEE}
}

Developed by Assia Benbihi