gzerr << "Model: '" << modelName << "' not found, make sure it is loaded before '" << _model->GetName() << "'." << std::endl; } else { // pose is optional ignition::math::Pose3d pose; if (modelElem->HasElement("pose")) pose = modelElem->Get<ignition::math::Pos...
(map(float, x_y_id_s[0::3])), + tuple(map(float, x_y_id_s[1::3]))]) + point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3]))) + images[image_id] = Image( + id=image_id, qvec=qvec, tvec=tvec, + camera_id=camera_id, name=image_name, + xys=xys, point...
static bool eraseMissingPoses(SfM_Data & sfm_data, const IndexT min_points_per_pose) { IndexT removed_elements = 0; const Landmarks & landmarks = sfm_data.structure; // Count the observation poses occurence Hash_Map<IndexT, IndexT> map_PoseId_Count; // Init with 0 count (in order...
In the first step, the images were loaded into the SFM software AgiSoft Metashape, which created photos alignment and performed bundle adjustment. The next step was dense cloud generation, and then unnecessary noise was removed by trimming the dense cloud. The final step was updating the model ...