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Update inlier ratio post BA #797

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Update inlier ratio post BA #797

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1ff0779
Update two_view_estimator.py
akshay-krishnan May 6, 2024
badefa8
temporarily remove two view estimator cacher
akshay-krishnan May 6, 2024
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45 changes: 22 additions & 23 deletions gtsfm/configs/unified.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -35,29 +35,28 @@ SceneOptimizer:
features: "superpoint"

two_view_estimator:
_target_: gtsfm.two_view_estimator_cacher.TwoViewEstimatorCacher
two_view_estimator_obj:
_target_: gtsfm.two_view_estimator.TwoViewEstimator
bundle_adjust_2view: True
eval_threshold_px: 4 # in px
ba_reproj_error_thresholds: [0.5]
bundle_adjust_2view_maxiters: 100

verifier:
_target_: gtsfm.frontend.verifier.ransac.Ransac
use_intrinsics_in_verification: True
estimation_threshold_px: 4 # for H/E/F estimators

triangulation_options:
_target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
mode:
_target_: gtsfm.data_association.point3d_initializer.TriangulationSamplingMode
value: NO_RANSAC

inlier_support_processor:
_target_: gtsfm.two_view_estimator.InlierSupportProcessor
min_num_inliers_est_model: 15
min_inlier_ratio_est_model: 0.1
# TODO: undo before merge.
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Let's remove this?

_target_: gtsfm.two_view_estimator.TwoViewEstimator
bundle_adjust_2view: True
eval_threshold_px: 4 # in px
ba_reproj_error_thresholds: [0.5]
bundle_adjust_2view_maxiters: 100

verifier:
_target_: gtsfm.frontend.verifier.ransac.Ransac
use_intrinsics_in_verification: True
estimation_threshold_px: 4 # for H/E/F estimators

triangulation_options:
_target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
mode:
_target_: gtsfm.data_association.point3d_initializer.TriangulationSamplingMode
value: NO_RANSAC

inlier_support_processor:
_target_: gtsfm.two_view_estimator.InlierSupportProcessor
min_num_inliers_est_model: 15
min_inlier_ratio_est_model: 0.1

multiview_optimizer:
_target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
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3 changes: 0 additions & 3 deletions gtsfm/two_view_estimator.py
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Expand Up @@ -330,9 +330,6 @@ def run_2view(
)
post_ba_inlier_ratio_wrt_estimate = float(len(post_ba_v_corr_idxs)) / len(putative_corr_idxs)

# TODO: Remove this hack once we can handle the lower post_ba_inlier_ratio_wrt_estimate downstream.
post_ba_inlier_ratio_wrt_estimate = pre_ba_inlier_ratio_wrt_estimate

post_ba_report = self.__get_2view_report_from_results(
i2Ri1_computed=post_ba_i2Ri1,
i2Ui1_computed=post_ba_i2Ui1,
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