16.61. sfm_merge

The sfm_merge program takes two or more Structure-from-Motion (SfM) maps in .nvm format, as produced by theia_sfm (Section 16.69) or rig_calibrator (Section 16.58), and merges them into a single map. It finds correspondences (feature matches) between the images in the maps, and then transforms the maps to first map’s coordinate system.

The input maps may or may not have shared images, but the surfaces they see must overlap.

If there are more than two maps, the second is merged to the first, which is then merged with the third, etc.

The produced map must be bundle-adjusted to refine it, using rig_calibrator (with or without the rig constraint).

The output map can be visualized in stereo_gui (Section 16.67.9.4).

See also sfm_submap (Section 16.62), a program to extract a submap from a larger map. A discussion for how this tool can be used is in Section 9.2.12.

16.61.1. Example

sfm_merge --rig_config rig_config.txt   \
  --num_image_overlaps_at_endpoints 100 \
  map1.nvm map2.nvm -output_map merged.nvm

Increasing the number of overlaps can make the program quite slow as its complexity is the square of this number. However, if very few similar images are detected between the maps, they will not be merged accurately.

The option --fast_merge can be used when the input maps are known to have a good number of images in common.

The option --no_transform is useful when the maps are individually registered or when they do not overlap, but in either case it is desired to integrate them without changing the camera poses.

Unless the --no_shift option is used, this invocation will write a file of the form <merged>_offsets.txt having the optical center of each camera. The .nvm file has these offsets subtracted from the features, and the offsets are needed for plotting the features with stereo_gui.

16.61.2. Handling tracks

A track is a feature (interest point) seen in multiple images, corresponding to a triangulated position on the ground. This tool preserves the tracks from the input maps. Matching of features creates additional tracks. Duplicate tracks (showing in multiple input maps and/or created during matching) are removed.

This tool does not merge tracks that have a subsequence in common, or eliminate a track if another track exists which is longer than a given one. These features may be added in future versions.

16.61.3. Command-line options for sfm_merge

--rig_config <string (default: “”)>

Read the configuration of sensors from this file in the format used for rig_calibrator (this tool does not use the rig structure). The output of this program can be passed back to rig_calibrator (with or without a rig constraint).

--output_map <string (default: “”)>

Output file containing the merged map.

--num_image_overlaps_at_endpoints <integer (default: 10)>

Search this many images at the beginning and end of the first map for matches to this many images at the beginning and end of the second map. Default: 10,

--fast_merge

When merging maps that have shared images, use their camera poses to find the transform from other maps to first map, and skip finding additional matches among the images.

--fix_first_map

If true, after merging the maps and reconciling the camera poses for the shared images, overwrite the shared poses with those from the first map, so it does not change. This is helpful if the first map is already registered and evaluated.

--no_shift

Assume that in the input .nvm files the features are not shifted relative to the optical center. The merged map will then be saved the same way.

--no_transform

Do not compute and apply a transform from the other maps to the first one. This keeps the camera poses as they are (shared poses and features will be reconciled). This will succeed even when the two maps do not overlap.

--close_dist <double (default: -1.0)>

Two triangulated points are considered to be close if no further than this distance, in meters. Used as inlier threshold when identifying triangulated points after the maps are aligned. Auto-computed, taking into account the extent of a tight subset of the triangulated points and printed on screen if not set. This is an advanced option.