Is there any example of how to create pycolmap.Image and add to pycolmap.Reconstruction? #3522
Description
Hello, the latest pycolmap is not able to set cam_from_world. The new freature supports Rig and Frame.
But I dont know how to use these, is there any example?
My scene has just a camera.
I have written some code:
camera = pycolmap.Camera(
model=camera_type, width=image_size[0], height=image_size[1], params=pycolmap_intri, camera_id=fidx + 1
)
reconstruction.add_camera(camera)
rig = pycolmap.Rig()
rig.rig_id = fidx + 1
sensor_t = pycolmap.sensor_t()
sensor_t.id = camera.camera_id
rig.add_sensor(sensor_t, pycolmap.Rigid3d())
reconstruction.add_rig(rig)
frame = pycolmap.Frame()
frame.frame_id = fidx + 1
frame.rig_id = rig.rig_id
frame.rig = rig
rotation = pycolmap.Rotation3d(extrinsics[fidx][:3, :3])
translation = extrinsics[fidx][:3, 3]
rigid3d = pycolmap.Rigid3d(rotation, translation)
frame.set_cam_from_world(camera_id=camera.camera_id, cam_from_world=rigid3d)
reconstruction.add_frame(frame)
image = pycolmap.Image(
image_id=fidx + 1, name=f"image_{fidx + 1}", camera_id=camera.camera_id, frame_id=frame.frame_id
)
reconstruction.add_image(image)But it doest work