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Handle different resolution in the pair of views #230

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Handle different resolution in the pair of views #230

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1d4bc78
different resolution in the pair of views
yindaheng98 Apr 26, 2025
bb3be05
Merge branch 'naver:main' into main
yindaheng98 Jul 2, 2025
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4 changes: 2 additions & 2 deletions dust3r/cloud_opt/init_im_poses.py
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@ def init_from_known_poses(self, niter_PnP=10, min_conf_thr=3):

# find relative pose for this pair
P1 = torch.eye(4, device=device)
msk = self.conf_i[i_j] > min(min_conf_thr, self.conf_i[i_j].min() - 0.1)
msk = self.conf_j[i_j] > min(min_conf_thr, self.conf_j[i_j].min() - 0.1)
_, P2 = fast_pnp(self.pred_j[i_j], float(im_focals[i].mean()),
pp=im_pp[i], msk=msk, device=device, niter_PnP=niter_PnP)

Expand All @@ -51,7 +51,7 @@ def init_from_known_poses(self, niter_PnP=10, min_conf_thr=3):
self._set_pose(self.pw_poses, e, R, T, scale=s)

# remember if this is a good depthmap
score = float(self.conf_i[i_j].mean())
score = float(self.conf_j[i_j].mean())
if score > best_depthmaps.get(i, (0,))[0]:
best_depthmaps[i] = score, i_j, s

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