Implement reprojection in 3d video #67
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jasper-tms
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Jul 23, 2025
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| if with_corrections: | ||
| pts2d = self.corrected_points2d(cam_id, img_id) | ||
| pts = self.corrected_points2d(cam_id, img_id) | ||
| else: | ||
| pts2d = None | ||
| pts = None | ||
|
|
||
| if reprojection: | ||
| pts = np.copy(self.camNet.points3d) |
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Should we raise an error if the user asks for with_corrections=True and reprojection=True? I don't understand exactly what happens in self.corrected_points2d, but I would guess these two arguments are incompatible, is that true? If so, adding if with_corrections and reprojection: raise ValueError('"with_corrections" and "reprojection" cannot both be set to True') near the start of this function would be great.
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In order to implement the re-projection for the 3d video, instead of having the 2d video play on top of the 3d plot, the plot_2d method of the Core class was modified to take an extra boolean argument that distinguishes between plotting the re-projection of the 3d points and plotting 2d points. If reprojection is true it passes the 3d points from the camNet attribute of the class to the plot_2d method of the Camera class as modified here (semihgunel/PyBundleAdjustment#2 (comment)), which is able to handle the re-projection and the plotting of 2d points. The video.py file was also modified with the _compute_2d_img also taking a reprojection argument (by default true) that it passes to the Core.plot_2d method.