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sarlinpe
added this pull request to stack #43
October 9, 2026 15:45
- --time-varying-intrinsics (vidmap.run and the frontend CLI): one camera per frame in the database and mapper state (per_image camera policy) with per-view camera priors. - Frontend initialization: per-frame predicted focals, median-filtered and Gaussian-smoothed in log space (vidmap/utils/camera_smoothing.py) to reject single-frame prediction spikes. - Mapper: raw per-frame focal priors, plus native Ceres log relative focal priors between consecutive keyframe cameras in view graph calibration and bundle adjustment (LogRelativeFocalPriorCostFunction, analytic Jacobians). The Cauchy loss acts as a quadratic smoothness term within continuous footage and lets the focal jump at cuts or abrupt zooms without explicit segmentation. - uncalib/da3 mapping defaults: focal prior weight 1e-3 in VGC and multiplier 0.01 in BA, so near-zero-baseline pairs cannot collapse the focal lengths. - Tests: smoothing, option validation, per-frame cameras, priors, multi-camera BA, and the native relative focal priors (C++ and Python).
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Summary
Support time-varying camera intrinsics (optical zoom).
--time-varying-intrinsics(invidmap.runand the frontend CLI) uses theper_imagecamera policy in the database and mapper state, with per-view camera priors.vidmap/utils/camera_smoothing.py) to reject single-frame prediction spikes.LogRelativeFocalPriorCostFunction(analytic Jacobians) links consecutive keyframe cameras in view graph calibration and bundle adjustment. The Cauchy loss acts as a quadratic smoothness term within continuous footage and lets the focal length jump at cuts or abrupt zooms, without explicit segmentation. The mapper keeps the raw per-frame focal priors.uncalib/da3uses focal prior weight1e-3in VGC and multiplier0.01in BA, so that near-zero-baseline pairs cannot collapse the focal lengths.Stack update: removed the unused mapper-side focal smoothing path, the unused
uncalib/da3_zoompreset andRunOptions.time_varying_intrinsics, and shared the flag's config overrides.