Open relh opened 2 months ago
Also it's interesting that going from 2 images with the PairViewer
and 3 images with the ModularPointCloudOptimizer
the scale of the reconstruction often changes quite dramatically! Easy to fix if we track scale and initial pose but just something I noticed~
Re: "Each time I try I get an error about the requires_grad when running scene.preset_principal_point"
Unintuitively, I think that you need to initialize global_aligner with the "optimize_pp=True" option beforehand
This is really helpful! I've gotten further than before.
> /home/relh/Code/???????????/dust3r/dust3r/cloud_opt/init_im_poses.py(61)init_from_known_poses()
60 assert known_poses_msk[n]
---> 61 _, i_j, scale = best_depthmaps[n]
62 depth = self.pred_i[i_j][:, :, 2]
ipdb> print(n)
0
ipdb> best_depthmaps
{1: (4.287663459777832, '1_0', tensor(0.7287, device='cuda:0')), 2: (2.592036485671997, '2_1', tensor(0., device='cuda:0'))}
I've got here and if I get further will update!
This is really helpful! I've gotten further than before.
> /home/relh/Code/???????????/dust3r/dust3r/cloud_opt/init_im_poses.py(61)init_from_known_poses() 60 assert known_poses_msk[n] ---> 61 _, i_j, scale = best_depthmaps[n] 62 depth = self.pred_i[i_j][:, :, 2] ipdb> print(n) 0 ipdb> best_depthmaps {1: (4.287663459777832, '1_0', tensor(0.7287, device='cuda:0')), 2: (2.592036485671997, '2_1', tensor(0., device='cuda:0'))}
I've got here and if I get further will update!
For registering the new image, I ran into the problem that the estimated scale is sensitive to the noise. I guess it is due to the procrustes problem is not robust, do you have some idea on it?
This is really helpful! I've gotten further than before.这真的很有帮助!我比以前更进一步了。
> /home/relh/Code/???????????/dust3r/dust3r/cloud_opt/init_im_poses.py(61)init_from_known_poses() 60 assert known_poses_msk[n] ---> 61 _, i_j, scale = best_depthmaps[n] 62 depth = self.pred_i[i_j][:, :, 2] ipdb> print(n) 0 ipdb> best_depthmaps {1: (4.287663459777832, '1_0', tensor(0.7287, device='cuda:0')), 2: (2.592036485671997, '2_1', tensor(0., device='cuda:0'))}
I've got here and if I get further will update!我已经到这里了,如果我有进一步的更新!
hi @relh
I also encountered the above problem and solved it with the method hturki mentioned. But the point cloud result I got after preset_poses
and preset_intrinsics
seems to have problems (my photo was obtained by rotating 360 degrees around the center, and the pose was calculated and set by myself). I wonder if you have encountered this problem? If so, how can I solve it?
Part of the depth estimation part of the process looks like this. It seems that there is no problem. I am very confused as to why there is a problem with the final result.
Hi all!
I have a setup where I run dust3r on a few images, then I want to add images to this and run it again.
I've been following the issues #54 , #30 , #17 . And using this
ModularPointCloudOptimizer
: https://github.com/naver/dust3r/commit/4a414b6406e5b3da3278a97f8cef5acfa2959d0bI'm wondering if there's anything else that can be preset in a scenario like this. Basically, re-using existing depth_maps with
_set_depthmap
(doesn't seem to save time, maybe I need to disable grad on the set depth_map?).I haven't been able to get the normal
PointCloudOptimizer
withcompute_global_alignment(init='known_poses'
to work either. Each time I try I get an error about therequires_grad
when runningscene.preset_principal_point
.I'm mostly just opening this issue in-case you guys can think of a way to incorporate new images into an existing
Dust3r
scene efficiently, as this is my use case.Thanks so much for making such an incredible project! Looking forward to Mast3r too :).