Add script to jointly visualize GT and estimated scene #779
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Can we not add GT as an optional arg in the current |
Good idea, that's cleaner. Updated now |
added 3 commits
March 6, 2024 22:01
ayushbaid
approved these changes
Mar 7, 2024
gtsfm/visualization/view_scene.py
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| # Align the poses. | ||
| n = min(len(wTi_list), len(wTi_list_gt)) | ||
| wTi_aligned_list, rSe = alignment_utils.align_poses_sim3_ignore_missing(wTi_list_gt[:n], wTi_list[:n]) |
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How would this work if the missing cameras are towards the start of the sequence.
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@ayushbaid good catch, fixed now
ayushbaid
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Mar 12, 2024
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| for i in range(len(wTi_list_gt)): | ||
| wTi_list_gt[i] = zcwTw.compose(wTi_list_gt[i]) |
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Why are we applying this transform to GT poses, but not the points?
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Because I've set it up to only visualize GT poses, not GT points. Otherwise gets a bit too crowded in addition to the reconstructed points and reconstructed poses.
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