mini-omnidata
mini-omnidata copied to clipboard
Add support to colmap w/ poses and scale optimization
Add support to scale optimization per depth image given COLMAP SfM reconstruction
- For simplicity, assume metric poses are known (e.g. from external VIO algorithms), so that COLMAP can reconstruct metric-scale sparse point clouds to optimize dense depth scales
- TBD: non-metric poses from COLMAP and handle potential failures