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Bugfix: Control Point Triangulation #22

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Merged
B1ueber2y merged 1 commit into from
Sep 15, 2026
Merged

Bugfix: Control Point Triangulation #22

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4 changes: 2 additions & 2 deletions lamaria/structs/sparse_eval.py
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Original file line number Diff line number Diff line change
Expand Up @@ -99,7 +99,7 @@ def add_residuals_for_sparse_eval(
loss = pyceres.TrivialLoss()

for tag_id, cp in variables.control_points.items():
tri = cp.triangulated
tri = copy.deepcopy(cp.triangulated)
if tri is None:
logger.info(f"Control point {tag_id} not triangulated")
continue
Expand Down Expand Up @@ -131,7 +131,7 @@ def add_residuals_for_sparse_eval(
cost,
loss,
[
cp.triangulated,
tri,
variables.sim3d.rotation.quat,
variables.sim3d.translation,
variables.log_scale,
Expand Down
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