Question about getting poses for all Frames

[mingqiJ]

Hi,

Thank you for your impressive work on MASt3R-SLAM!
I noticed that the code estimates camera poses only for keyframes. Do you happen to have code or recommendations for obtaining poses for all frames?

[zahrataghizaadeh]

I have the same question. Is it possible to get the poses for all the frames?

[ben-williams-ai]

+1 for this

[wdj3488]

+1 for this

[zeplar-exe]

Courtesy of Copilot: you can do this by increasing match_frac_thresh in your config file. Setting it to 1.0 generates at or near the maximum amount of keyframes.
The side effect of this is more computation (of course), and the output .ply file is of very high fidelity.