Fusion gps

CHANGELOG.txt

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+COLMAP 3.6 (07/24/2020)
+-----------------------
+- Improved robustness and faster incremental reconstruction process
+- Add ``image_deleter`` command to remove images from sparse model
+- Add ``image_filter`` command to filter bad registrations from sparse model
+- Add ``point_filtering`` command to filter sparse model point clouds
+- Add ``database_merger`` command to merge two databases, which is
+  useful to parallelize matching across different machines
+- Add ``image_undistorter_standalone`` to enable undistorting images
+  without a pre-existing full sparse model
+- Improved undistortion for fisheye cameras and FOV camera model
+- Support for masking input images in feature extraction stage
+- Improved HiDPI support in GUI for high-resolution monitors
+- Import sparse model when launching GUI from CLI
+- Faster CPU-based matching using approximate NN search
+- Support for bundle adjustment with fixed extrinsics
+- Support for fixing existing images when continuing reconstruction
+- Camera model colors in viewer can be customized
+- Support for latest GPU architectures in CUDA build
+- Support for writing sparse models in Python scripts
+- Scripts for building and running COLMAP in Docker
+- Many more bug fixes and improvements to code and documentation
+
+
+COLMAP 3.5 (08/22/2018)
+-----------------------
+- COLMAP is now released under the BSD license instead of the GPL
+- COLMAP is now installed as a library, whose headers can be included and
+  libraries linked against from other C/C++ code
+- Add hierarchical mapper for parallelized reconstruction or large scenes
+- Add sparse and dense Delaunay meshing algorithms, which reconstruct a
+  watertight surface using a graph cut on the Delaunay triangulation of the
+  reconstructed sparse or dense point cloud
+- Improved robustness when merging different models
+- Improved pre-trained vocabulary trees available for download
+- Add COLMAP as a software entry under Linux desktop systems
+- Add support to compile COLMAP on ARM platforms
+- Add example Python script to read/write COLMAP database
+- Add region of interest (ROI) cropping in image undistortion
+- Several import bug fixes for spatial verification in image retrieval
+- Add more extensive continuous integration across more compilation scenarios
+- Many more bug fixes and improvements to code and documentation
+
+
+COLMAP 3.4 (01/29/2018)
+-----------------------
+- Unified command-line interface: The functionality of previous executables have
+  been merged into the ``src/exe/colmap.cc`` executable. The GUI can now be
+  started using the command ``colmap gui`` and other commands are available
+  as ``colmap [command]``. For example, the feature extractor is now available
+  as ``colmap feature_extractor [args]`` while all command-line arguments stay
+  the same as before. This should result in much faster project compile times
+  and smaller disk space usage of the program. More details about the new
+  interface are documented at https://colmap.github.io/cli.html
+- More complete depth and normal maps with larger patch sizes
+- Faster dense stereo computation by skipping rows/columns in patch match,
+  improved random sampling in patch match, and faster bilateral NCC
+- Better high DPI screen support for the graphical user interface
+- Improved model viewer under Windows, which now requires Qt 5.4
+- Save computed two-view geometries in database
+- Images (keypoint/matches visualization, depth and normal maps) can now be
+  saved from the graphical user interface
+- Support for PMVS format without sparse bundler file
+- Faster covariant feature detection
+- Many more bug fixes and improvements
+
+
+COLMAP 3.3 (11/21/2017)
+-----------------------
+- Add DSP (Domain Size Pooling) SIFT implementation. DSP-SIFT outperforms
+  standard SIFT in most cases, as shown in "Comparative Evaluation of
+  Hand-Crafted and Learned Local Features", Schoenberger et al., CVPR 2017
+- Improved parameters dense reconstruction of smaller models
+- Improved compile times due to various code optimizations
+- Add option to specify camera model in automatic reconstruction
+- Add new model orientation alignment based on upright image assumption
+- Improved numerical stability for generalized absolute pose solver
+- Support for image range specification in PMVS dense reconstruction format
+- Support for older Python versions in automatic build script
+- Fix OpenCV Fisheye camera model to exactly match OpenCV specifications
+
+
+COLMAP 3.2 (9/2/2017)
+----------------------
+- Fully automatic cross-platform build script (Windows, Mac, Linux)
+- Add multi-GPU feature extraction if multiple CUDA devices are available
+- Configurable dimension and data type for vocabulary tree implementation
+- Add new sequential matching mode for image sequences with high frame-rate
+- Add generalized relative pose solver for multi-camera systems
+- Add sparse least absolute deviation solver
+- Add CPU/GPU options to automatic reconstruction tool
+- Add continuous integration system under Windows, Mac, Linux through Github
+- Many more bug fixes and improvements
+
+
+COLMAP 3.1 (6/15/2017)
+----------------------
+- Add fast spatial verification to image retrieval module
+- Add binary file format for sparse models by default. Old text format still
+  fully compatible and possible conversion in GUI and CLI
+- Add cross-platform little endian binary file reading and writing
+- Faster and less memory hungry stereo fusion by computing consistency on demand
+  and possible limitation of image size in fusion
+- Simpler geometric stereo processing interface.
+  Now geometric stereo output can be computed using a single pass
+- Faster and multi-architecture CUDA compilation
+- Add medium quality option in automatic reconstructor
+- Many more bug fixes and improvements
+
+
+COLMAP 3.0 (5/22/2017)
+----------------------
+- Add automatic end-to-end reconstruction tool that automatically performs
+  sparse and dense reconstruction on a given set of images
+- Add multi-GPU dense stereo if multiple CUDA devices are available
+- Add multi-GPU feature matching if multiple CUDA devices are available
+- Add Manhattan-world / gravity alignment using line detection
+- Add CUDA-based feature extraction useful for usage on clusters
+- Add CPU-based feature matching for machines without GPU
+- Add new THIN_PRISM_FISHEYE camera model with tangential/radial correction
+- Add binary to triangulate existing/empty sparse reconstruction
+- Add binary to print summary statistics about sparse reconstruction
+- Add transitive feature matching to transitively complete match graph
+- Improved scalability of dense reconstruction by using caching
+- More stable GPU-based feature matching with informative warnings
+- Faster vocabulary tree matching using dynamic scheduling in FLANN
+- Faster spatial feature matching using linear index instead of kd-tree
+- More stable camera undistortion using numerical Newton iteration
+- Improved option parsing with some backwards incompatible option renaming
+- Faster compile times by optimizing includes and CUDA flags
+- More stable view selection for small baseline scenario in dense reconstruction
+- Many more bug fixes and improvements
+
+
+COLMAP 2.1 (12/7/2016)
+----------------------
+- Support to only index and match specific images in vocabulary tree matching
+- Support to perform image retrieval using vocabulary tree
+- Several bug fixes and improvements for multi-view stereo module
+- Improved Structure-from-Motion initialization strategy
+- Support to only reconstruct the scene using specific images in the database
+- Add support to merge two models using overlapping registered images
+- Add support to geo-register/align models using known camera locations
+- Support to only extract specific images in feature extraction module
+- Support for snapshot model export during reconstruction
+- Skip already undistorted images if they exist in output directory
+- Support to limit the number of features in image retrieval for improved speed
+- Miscellaneous bug fixes and improvements
+
+
+COLMAP 2.0 (9/8/2016)
+---------------------
+- Implementation of dense reconstruction pipeline
+- Improved feature matching performance
+- New bundle adjuster for rigidly mounted multi-camera systems
+- New generalized absolute pose solver for multi-camera systems
+- New executable to extract colors from all images
+- Boost can now be linked in shared and static mode
+- Various bug fixes and performance improvements
+
+
+COLMAP 1.1 (5/19/2016)
+----------------------
+- Implementation of state-of-the-art image retrieval system using Hamming
+  embedding for vocabulary tree matching. This should lead to much improved
+  matching results as compared to the previous implementation.
+- Guided matching as an optional functionality.
+- New demo datasets for download.
+- Automatically switch to PBA if supported by the project.
+- Implementation of EPNP solver for local pose optimization in RANSAC.
+- Add option to extract upright SIFT features.
+- Saving JPEGs in superb quality by default in export.
+- Add option to clear matches and inlier matches in the project.
+- New fisheye camera models, including the FOV camera model used by Google
+  Project Tango (Thomas Schoeps).
+- Extended documentation based on user feedback.
+- Fixed typo in documentation (Thomas Schoeps).
+
+
+COLMAP 1.0 (4/4/2016)
+---------------------
+- Initial release of COLMAP.