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Add pose position prior constraint feature #155

Draft

StonerLing wants to merge 1 commit into colmap:main from StonerLing:feature/pose-position-prior-constraint

+662 −46

StonerLing commented Dec 19, 2024 •

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Almost a clone of the pose prior constraint functionality in colmap, the main difference is the addition of "normalization" to the prior positions during the global positioning step, in order to accommodate the range of randomly generated points
Update colmap version to use utm conversion
Add clangd and cmake local files/directories in .gitignore

Usage:

glomap mapper --database_path DATABASE_PATH --output_path OUTPUT_PATH ^
--PosePrior.use_pose_position_prior 1 ^
--PosePrior.overwrite_priors_covariance 1 ^
--PosePrior.prior_position_std_x 0.5 ^
--PosePrior.prior_position_std_y 0.5 ^
--PosePrior.prior_position_std_z 0.5

Related issues/discussions #19 #56 #109 #138 #142 #29


          Add pose position prior constraint feature

5dfed9b

StonerLing marked this pull request as draft

December 20, 2024 11:32

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