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TODO.md

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To fix

  • Relative pose for cameras are not applied in project/unproject. Currently they can't, because of inverse depth, but we could make it use homogeneous coordinates instead.

  • IMU does not apply relative pose at all.

Issues

Having to lambda-wrap every function taking a base view

We could instead create "fake" view classes for each trajectory, camera, IMU, etc, and then have the exposed classes point to these as base classes.