mapillary / mapillary/OpenSfM

asking for an advice about merging two reconstructions

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sfm-reconstruction
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Python
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Description

First of all, thanks @paulinus for sharing your great work!
May I ask your advice for an use case?

Let's say I have a linear dataset of 500 images (taken from a driving car). I was able to reconstruct them in an incremental manner (i.e., adding one view, triangulating it, doing bundle, and repeating.). However, it currently takes almost 4-5 hours. (Although computation time does not matter much for now, it takes too much. From an earlier discussion (#130), I learned that there are local_bundle_radius or bundle_interval options.)

Do you think if I can reconstruct once for a subset 1 of (earlier) 250 images and once for a subset 2 of (later) 250 images, and nicely merge them? Between their boundary, how can I calculate relative {R, T} (e.g., between the last camera of subset 1, and the first camera of subset 2).

Alternatively, do you think if I can subdivide the set such as [0-251] and [250-500] (with overlap), figure out the relative {R, T} between 250th and 251th, and apply it to all the second subset? (what if a scale is different?)

Would there be a better way to do it when using your library? Could you provide some pseudocodes/logics/hint for that?

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First steps

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Research direction

Start by reviewing the existing local_bundle_radius and bundle_interval options and the earlier discussion in issue #130. The issue does not name files or tests; determine whether the library supports merging independently reconstructed subsets, handling relative poses and scale, and document a supported workflow or identify the missing capability.

Written by the indexing model from the issue text.

Assessment

Tech stack
opencv, python
Domain
computer-vision
Issue type
Feature
Difficulty
5/5
Estimated time
Over a week
Activity status
Stale
Clarity
Needs clarification
Newbie friendliness
20/100

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