Merge feature/rig branch into main #3295
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Co-authored-by: Shaohui Liu <[email protected]>
Co-authored-by: Shaohui Liu <[email protected]> Co-authored-by: Johnson Sun <[email protected]> Co-authored-by: Paul-Edouard Sarlin <[email protected]>
Co-authored-by: Shaohui Liu <[email protected]> Co-authored-by: Johnson Sun <[email protected]> Co-authored-by: Paul-Edouard Sarlin <[email protected]>
Simply updates feature/rig branch with latest changes in main branch.
Co-authored-by: Shaohui Liu <[email protected]> Co-authored-by: Johnson Sun <[email protected]> Co-authored-by: Paul-Edouard Sarlin <[email protected]> Co-authored-by: Julia Pap <[email protected]> Co-authored-by: theartful <[email protected]> Co-authored-by: taomiao <[email protected]>
To make it easier to review already merged changes into main from the open rig PR. --------- Co-authored-by: Shaohui Liu <[email protected]> Co-authored-by: Johnson Sun <[email protected]> Co-authored-by: Paul-Edouard Sarlin <[email protected]> Co-authored-by: Julia Pap <[email protected]> Co-authored-by: theartful <[email protected]> Co-authored-by: taomiao <[email protected]> Co-authored-by: Jonah Newton <[email protected]>
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 <[email protected]> Co-authored-by: Johnson Sun <[email protected]> Co-authored-by: Paul-Edouard Sarlin <[email protected]> Co-authored-by: Julia Pap <[email protected]> Co-authored-by: theartful <[email protected]>
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.
B1ueber2y
approved these changes
Apr 29, 2025
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