MAST3r计算结果

 

 

https://blog.csdn.net/gitblog_00870/article/details/153381137

 

 

# 1. 准备图像和配置
imgs = ["image1.jpg", "image2.jpg", "image3.jpg"]
pairs_in = [[{"idx":0}, {"idx":1}], [{"idx":1}, {"idx":2}], [{"idx":0}, {"idx":2}]]
cache_path = "./cache"# 2. 加载模型
model = load_mast3r_model("mast3r_large")# 3. 运行稀疏全局对齐
mast3r_ga = sparse_global_alignment(imgs, pairs_in, cache_path, model, kinematic_mode='hclust-ward', shared_intrinsics=False,lr1=0.07, niter1=300,lr2=0.01, niter2=300
)# 4. 获取优化结果
K = mast3r_ga.get_intrinsics()
cam2w = mast3r_ga.get_cam2w()
pts3d = mast3r_ga.get_sparse_pts3d()# 5. 可视化结果
mast3r_ga.show()