Local coordinate system (non GPS)

[oliver-batchelor]

Is it possible to configure OpenSfM to use a local coordinate system, rather than a GPS lat/long etc.?

For example using poses from a robotic gantry or output from pipeline which fuses RTK GPS with other inputs (e.g. ROS robot localization)?

If not - would it be conceivable the implementation of this would be achievable with a little work? I'd be keen to give it a try given some rough guidance about the best way to approach this.

[oliver-batchelor]

So far my approach has to be to add a fake TopocentricConverter with one which passes the identity through, using a different Dataset class which also provides the fake exif data.

Rotations won't make it through, but perhaps that is not strictly necessary.

Is there any fatal flaw in this idea?

[YanNoun]

Hi @oliver-batchelor,

Unfortunately, OpenSfM only take image position priors as lat/lon pairs, so you would have to fake lat/lon data.

Let me know if that helps.

Yann