Inquiry: How to leverage instance IDs

[sankalp04]

I am new to openSfM and want to better understand how instance IDs are handled by openSfM. I am working with dashcam images and using them to reconstruct and geoposition objects of interest. To improve reconstruction quality and precision, I wanted to leverage the instance ID of an object of interest and see if I can pass that to openSfM.

Digging deeper into the repo, I noticed this TODO comment:

OpenSfM/opensfm/dataset.py

Line 181 in 7514c21

# TODO we can optionally return also the instances and scores:

and a separate load_instances method. The docs don't explain if the comment and method are interchangeable nor how these instances should be passed to openSfM for best results. I am wondering if anybody could shed some light here.

Thanks!