2 stage filtering (#739)

borglab · Mar 17, 2024 · a287eef · a287eef
1 parent 6120b56
commit a287eef
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Showing 2 changed files with 26 additions and 3 deletions.
diff --git a/gtsfm/configs/unified.yaml b/gtsfm/configs/unified.yaml
@@ -65,7 +65,7 @@ SceneOptimizer:
     # comment out to not run
     view_graph_estimator:
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
-      edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
+      edge_error_aggregation_criterion: MIN_EDGE_ERROR
 
     rot_avg_module:
       _target_: gtsfm.averaging.rotation.shonan.ShonanRotationAveraging

diff --git a/gtsfm/multi_view_optimizer.py b/gtsfm/multi_view_optimizer.py
@@ -21,11 +21,15 @@
 from gtsfm.common.keypoints import Keypoints
 from gtsfm.common.pose_prior import PosePrior
 from gtsfm.common.sfm_track import SfmTrack2d
+from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
+from gtsfm.data_association.cpp_dsf_tracks_estimator import CppDsfTracksEstimator
 from gtsfm.data_association.data_assoc import DataAssociation
 from gtsfm.evaluation.metrics import GtsfmMetricsGroup
+from gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator import (
+    CycleConsistentRotationViewGraphEstimator,
+    EdgeErrorAggregationCriterion,
+)
 from gtsfm.view_graph_estimator.view_graph_estimator_base import ViewGraphEstimatorBase
-from gtsfm.data_association.cpp_dsf_tracks_estimator import CppDsfTracksEstimator
-from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
 
 
 class MultiViewOptimizer:
@@ -44,6 +48,10 @@ def __init__(
         self.ba_optimizer = bundle_adjustment_module
         self._run_view_graph_estimator: bool = self.view_graph_estimator is not None
 
+        self.view_graph_estimator_v2 = CycleConsistentRotationViewGraphEstimator(
+            edge_error_aggregation_criterion=EdgeErrorAggregationCriterion.MEDIAN_EDGE_ERROR
+        )
+
     def __repr__(self) -> str:
         return f"""
         MultiviewOptimizer: 
@@ -114,6 +122,21 @@ def create_computation_graph(
                 two_view_reports_dict,
                 debug_output_dir,
             )
+            (
+                viewgraph_i2Ri1_graph,
+                viewgraph_i2Ui1_graph,
+                viewgraph_v_corr_idxs_graph,
+                viewgraph_two_view_reports_graph,
+                viewgraph_estimation_metrics,
+            ) = self.view_graph_estimator_v2.create_computation_graph(
+                viewgraph_i2Ri1_graph,
+                viewgraph_i2Ui1_graph,
+                all_intrinsics,
+                viewgraph_v_corr_idxs_graph,
+                keypoints_list,
+                viewgraph_two_view_reports_graph,
+                debug_output_dir / "2",
+            )
         else:
             viewgraph_i2Ri1_graph = dask.delayed(i2Ri1_dict)
             viewgraph_i2Ui1_graph = dask.delayed(i2Ui1_dict)