How to get the same focals for all cameras

[tommaoer]

Thanks for the impressive and excellent work! After I run the demo, I noticed that the intrinsics of camera sequence from one video is not same using the function (estimate_focal_knowing_depth) from depth, how to get a shared focal of all cameras for all frames.

Thanks

[fanegg]

Hi @tommaoer Thank you for your interest! Intrinsics are modeled implicitly and solved from pointmaps, so they aren't forced to be same across frames. VGGT has implemented a similar function. You can check this issue for more details on recovering shared intrinsics.