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sarlinpe
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October 9, 2026 15:45
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New optional step after mapping (python -m vidmap.localize_frames --run-dir <run>): register every video frame (or a subsampled rate, --fps) against the finished (sub-)reconstructions without further triangulation or bundle adjustment. - Each frame is matched with RoMaV2 to its nearest keyframe (falling back to the other bracketing keyframe when covisibility is low, which handles frames next to cuts); matches are lifted to the keyframe's 3D points and the absolute pose (optionally with a refined focal length) is estimated by robust PnP. - Batched matching with the compiled RoMaV2 graphs on the GPU, PnP in a thread pool, frames read by I/O workers; keyframes keep their bundle-adjusted poses. - Output: frame_poses_<fps>fps*.npz/.txt (cam_from_world, focal, model index, inliers) and a JSON summary with timings; --leave-one-out re-localizes keyframes to validate accuracy. - Viewer: optional dense trajectory of all localized frames (frusta and slider stay on keyframes). - Tests for frame selection helpers.
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Summary
Optional step after mapping that registers every video frame, or a subsampled rate, against the finished (sub-)reconstructions, without more triangulation or bundle adjustment.
frame_poses_*.npz/.txt(cam_from_world, focal length, model index, inliers) and a JSON summary with timings.--leave-one-outre-localizes the keyframes to validate accuracy.