Modified from Bowen's BundleTracking. Replace its original point-feature to superpoint. Further modification includes change CUDA's compatibility and add support for c++14.
Data should be formated as follows:
color/
- 0.png
- 1.png
depth/
- 0.png
- 1.png
seg/
- 0.png
- 1.png
intrinsics.txt
- Start super point feature server:
python external/PointFeatureHub2/run.py task=detect detect=super_point draw_keypoints=false- Run bundletrack
./build/bundle_track_colmap config_colmap.yml- After running, we can visualize the running result with Easy3DViewer.
python external/Easy3DViewer/example/python/check_sequence_poses.py --frame_skip=100 --traj_path=${traj_path} --data_path=${data_path}