How to generate poses for query images using SFM model built on reference images. about visloc_pseudo_gt_limitations HOT 1 CLOSED

For the paper, we used the mapper functionality: we first use the --image_list_path option to specify that only the training images should be used for reconstruction. Once the process finishes, we run the mapper again with the output of the first reconstruction process as input and using the --fix_existing_images option set to True to fix the poses of the training images while the test images are added to the reconstruction.

Note that this is different to the image_registrator as the image_registrator adds individual images without any bundle adjustment over all images and without adding new 3D points or new observations.

Looking at the error you show, I would assume that the database you use for the image_registrator is different to the one you used to build the model as the error states that the ID associated with one of the images in the reconstruction points to another image in the new database. You can avoid the problem by either extending the original database you used to include the query image or by running the point_triangulator with the --clear_points option set to True with the new database and the 3D model that you have.

from visloc_pseudo_gt_limitations.