and others added 24 commits
February 28, 2025 11:51
Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com>
Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com> Co-authored-by: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com>
Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com> Co-authored-by: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com>
Simply updates feature/rig branch with latest changes in main branch.
Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com> Co-authored-by: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com> Co-authored-by: Julia Pap <papjuli@gmail.com> Co-authored-by: theartful <101147828+theartful@users.noreply.github.com> Co-authored-by: taomiao <taomiao@pku.edu.cn>
To make it easier to review already merged changes into main from the open rig PR. --------- Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com> Co-authored-by: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com> Co-authored-by: Julia Pap <papjuli@gmail.com> Co-authored-by: theartful <101147828+theartful@users.noreply.github.com> Co-authored-by: taomiao <taomiao@pku.edu.cn> Co-authored-by: Jonah Newton <33105911+jonahjnewton@users.noreply.github.com>
Add support for leveraging rig constraints in incremental mapping. Known TODOs (for follow-up PRs): - Use generalized absolute/relative pose solvers in RegisterInitialImagePair / RegisterNextImage --------- Co-authored-by: Shaohui Liu <b1ueber2y@gmail.com> Co-authored-by: Johnson Sun <20457146+j3soon@users.noreply.github.com> Co-authored-by: Paul-Edouard Sarlin <15985472+sarlinpe@users.noreply.github.com> Co-authored-by: Julia Pap <papjuli@gmail.com> Co-authored-by: theartful <101147828+theartful@users.noreply.github.com>
For consistency with ImgFromCam and CamFromWorld, so it more naturally composes as: SensorFromWorld = Compose(SensorFromRig, RigFromWorld).
Uses new rig/frame functionality to implement support for the existing rig bundle adjuster functionality. This should be fully backwards compatible. In a follow-up PR, I will delete all code related to legacy rig support (CameraRig struct, RigBundleAdjuster, etc.).
All the functionality is now supported natively.
This is to enforce 1-to-N relationships for rigs and sensors, frames and sensor measurements, as well as rigs and frames. This already revealed a bug in the database merging logic.
Last merge before merge of feature/rig into main.
ahojnnes deleted the user/jsch/feature-rig-main-merge branch
April 29, 2025 12:45Merged