Add fixed extrinsics in rig config #1144
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ahojnnes
reviewed
Feb 24, 2021
jcanizales
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Mar 6, 2021
| auto rel_tvec_node = camera.second.get_child_optional("rel_tvec"); | ||
| if (rel_tvec_node) { | ||
| for (const auto& node : rel_tvec_node.get()) { | ||
| rel_tvec[index] = node.second.get_value<double>(); |
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You missed the ++ after index 🙂 Same for loading rel_qvec below.
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Good catch on that one; I'll post a fix.
lucasthahn
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Aug 17, 2022
* Add fixed extrinsics in rig config * Renamed rig config fields * Update CMakeLists.txt * Update colmap.cc Co-authored-by: Antonios Matakos <anmatako@dss.microsoft.us> Co-authored-by: Johannes Schönberger <jsch@demuc.de>
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The rig config can now support fields for relative extrinsics and use these values instead of estimating relative poses from the reconstruction. To use the new behavior the rig config must contain the new "location" and "orientation" properties and the flag estimate_rig_relative_poses must be false (
--estimate_rig_relative_poses 0) when callingrig_bundle_adjuster