can I fix the camera pose? Or given some restrictive priors

[kuaiqushangzixiba]

A very good job! I have a fixed use of the scene, 4 cameras fixed to shoot an object, but I find that each time the output camera is not in the same position, can you give some prior conditions or modify the code to fix the camera pose?

[vincent-leroy]

Hello @kuaiqushangzixiba
If you know the camera poses in advance, you can set them with the following:

dust3r/dust3r/cloud_opt/optimizer.py

Line 66 in 517a430

def preset_pose(self, known_poses, pose_msk=None): # cam-to-world

The same can be done with focals and principal points

dust3r/dust3r/cloud_opt/optimizer.py

Line 82 in 517a430

def preset_focal(self, known_focals, msk=None):

dust3r/dust3r/cloud_opt/optimizer.py

Line 91 in 517a430

def preset_principal_point(self, known_pp, msk=None):

Note that if you only care about having all reconstructions living in the same reference frame, you can get the output camera poses and parameters after processing the first sequence and set them manually for the rest of the reconstructions. Note that setting inaccurate camera poses might hinder the quality of the output in some cases.

Best

[kuaiqushangzixiba]

dust3r/demo.py

Line 91 in 517a430

def get_3D_model_from_scene(outdir, scene, min_conf_thr=3, as_pointcloud=False, mask_sky=False,

return _convert_scene_output_to_glb(outdir, rgbimg, pts3d, msk, focals, cams2world, as_pointcloud=as_pointcloud,
transparent_cams=transparent_cams, cam_size=cam_size)

Thanks a lot!
When should I set it up? When you initialize global_aligner, or after get_3D_model_from_scene...

[kuaiqushangzixiba]

And when I set preset_pose（）, I got the following error, I found that the declaration of this method was not defined in the code

AttributeError: 'PointCloudOptimizer' object has no attribute '_get_msk_indices'