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Add support to colmap w/ poses and scale optimization #1

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theNded wants to merge 2 commits into master from colmap

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theNded commented May 4, 2023

Add support to scale optimization per depth image given COLMAP SfM reconstruction

For simplicity, assume metric poses are known (e.g. from external VIO algorithms), so that COLMAP can reconstruct metric-scale sparse point clouds to optimize dense depth scales
TBD: non-metric poses from COLMAP and handle potential failures

theNded added 2 commits

May 3, 2023 22:58


          add support to colmap w/ poses and scale optimization

415737f


          utils for stanford rgbd data

b0148c5

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