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Hello,
I would like to add some constraints to Bundle Adjustment process. For example, imagine in the environment there are some landmarks that we know their relative locations (e.g. distance betwe…
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CMakeFiles/bundle_adjustment_g2o.dir/bundle_adjustment_g2o.cpp.o: In function `g2o::LinearSolverCSparse::solve(g2o::SparseBlockMatrix const&, double*, double*)':
bundle_adjustment_g2o.cpp:(.text._ZN3…
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It was found that the thread to execute GlobalBundleAdjustment is implemented within CorrectLoop method in ORB-SLAM2.
(https://github.com/raulmur/ORB_SLAM2/blob/master/src/LoopClosing.cc#L579)
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I was wondering if it is possible to optimise also the intrinsic parameters of the camera (fx, fy, cx, cy) during the Bundle Adjustment (local and global). Since ORB-SLAM is using g2o to solve BA, I w…
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Hi,
We'd like to try Thallo out quickly, to evaluate if we could slot it into our existing pipeline in lieu of othern on-linear solvers. The bundle adjustment example would be particularly pertinen…
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In previous work (LSD-SLAM) G2O framework is used to perform BA. ORB-SLAM also uses this framework for optimization. Why in DSO-SLAM G2O framework is ignored and BA performed manually?
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I used real poses to reconstruct driving scenes, and dynamic objects were already masked out. I have examined these poses in COLMAP, and they should be correct. Even if the scene is not on a large sca…
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Is it possible to skip global bundle adjustment when using ns-process-data? I would like to try the result with just hloc, and see if it is usable without waiting for the global bundled adjustment whi…
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I see that you have reduced the memory usage in v2 and provided new guidance on how to adjust the memory usage for different GPUs: https://github.com/facebookresearch/vggsfm?tab=readme-ov-file#9-faqs
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Hi, I can only install pycolmap in my environment, instead of COLMAP+pycolmap.
I want to use pixel-perfect-sfm to implement `Keypoint adjustment(The first step of the refinement is the keypoint adj…