Use LoFTR + SupeGlue in skydio_front_end

borglab · Jan 2, 2024 · 1a76943 · 1a76943
1 parent 188fbe3
commit 1a76943
Showing 1 changed file with 8 additions and 4 deletions.
diff --git a/gtsfm/configs/skydio_front_end.yaml b/gtsfm/configs/skydio_front_end.yaml
@@ -30,12 +30,16 @@ SceneOptimizer:
     - _target_: gtsfm.frontend.correspondence_generator.det_desc_correspondence_generator.DetDescCorrespondenceGenerator
 
       detector_descriptor:
-        _target_: gtsfm.frontend.detector_descriptor.sift.SIFTDetectorDescriptor
-        max_keypoints: 5000
+        _target_: gtsfm.frontend.cacher.detector_descriptor_cacher.DetectorDescriptorCacher
+        detector_descriptor_obj:
+          _target_: gtsfm.frontend.detector_descriptor.superpoint.SuperPointDetectorDescriptor
+          max_keypoints: 5000
 
       matcher:
-        _target_: gtsfm.frontend.matcher.twoway_matcher.TwoWayMatcher
-        ratio_test_threshold: 0.8
+        _target_: gtsfm.frontend.cacher.matcher_cacher.MatcherCacher
+        matcher_obj:
+          _target_: gtsfm.frontend.matcher.superglue_matcher.SuperGlueMatcher
+          use_outdoor_model: True
 
   two_view_estimator:
     _target_: gtsfm.two_view_estimator_cacher.TwoViewEstimatorCacher