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Use lidar as constraints in sfm #1803

Merged
merged 16 commits into from
Jan 20, 2025
Merged

Use lidar as constraints in sfm #1803

merged 16 commits into from
Jan 20, 2025

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servantftechnicolor
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@servantftechnicolor servantftechnicolor commented Jan 10, 2025 •
edited by cbentejac
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This PR add a set of features to enable use of lidar measures as smooth constraints on the landmark positions.

  • Assumes one frame of the sequence is correclty aligned with the lidar geometric frame.
  • Assumes the camera calibration is fully and precisely known.
  • Use Mesh generated from lidar to fetch 3D point for a given 2D landmark by point back projection.

Related Meshroom pull request: alicevision/Meshroom#2642

@servantftechnicolor servantftechnicolor mentioned this pull request Jan 10, 2025
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@cbentejac cbentejac added this to the 3.3.0 milestone Jan 14, 2025
@servantftechnicolor servantftechnicolor force-pushed the dev/sfmLidar branch 2 times, most recently from 6f30499 to 48b9171 Compare January 17, 2025 12:00
cbentejac
cbentejac requested changes Jan 17, 2025
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src/aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp Show resolved Hide resolved
src/software/pipeline/main_sfmExpanding.cpp Outdated Show resolved Hide resolved
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src/software/export/main_exportMatches.cpp Outdated Show resolved Hide resolved
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cbentejac
cbentejac previously approved these changes Jan 17, 2025
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@cbentejac cbentejac merged commit ce3c1e1 into develop Jan 20, 2025
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@cbentejac cbentejac deleted the dev/sfmLidar branch January 20, 2025 10:03
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@cbentejac cbentejac cbentejac approved these changes

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