refine_extrinsics not in bundle_adjustment_runner

[zerolover]

ERROR: unknown command line flag 'refine_extrinsics'

[JingruiYu]

Hi @zerolover ,

Thanks a lot for taking the time to try out pycusfm and for opening this issue.

From your description, it sounds like you were trying to enable extrinsics optimization. Could you let me know which part of our documentation was unclear and led you to use the refine_extrinsics flag?
The current flag we support is --optimize_extrinsics --ba_frame_type=vehicle_rig (see the “Step-Specific Options”, section 5. Mapping in the “Command Line Interface” chapter).
This would help us improve the docs and avoid similar confusion in the future.

[zerolover]

https://github.com/nvidia-isaac/pyCuSFM/blob/main/docs/README_auxiliary_tools.md
I skip all the step and try BA using cusfm_tool --binary_name bundle_adjustment_runner on my dataset.

So, my question is:
Does bundle_adjustment_runner support vehicle_rig?
Does bundle_adjustment_runner support refine_extrinsics?
RigBundleAdjuster in colmap did support these two features.

[willdzeng]

Hi @zerolover

Our current bundle_adjustment_runner does not yet support vehicle rig and optimize extrinsics, however our main keypoints_mapping do support that, it's probably not hard to add vehicle rig optimization, so we will add it in the next release.