Merge branch 'master' of https://github.com/borglab/gtsfm into log-co…

…nnected-component-sizes
borglab · Aug 26, 2023 · c737cab · c737cab
2 parents fe59cda + 812fb4b
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diff --git a/.github/scripts/download_single_benchmark.sh b/.github/scripts/download_single_benchmark.sh
@@ -62,6 +62,14 @@ function download_and_unzip_dataset_files {
     WGET_URL1=https://www.dropbox.com/s/q02mgq1unbw068t/2011205_rc3.zip
     WGET_URL2=https://github.com/johnwlambert/gtsfm-cache/releases/download/2011205_rc3_deep_front_end_cache/cache_rc3_deep.tar.gz
     ZIP_FNAME=2011205_rc3.zip
+
+  elif [ "$DATASET_NAME" == "gerrard-hall-100" ]; then
+    WGET_URL1=https://github.com/johnwlambert/gtsfm-datasets-mirror/releases/download/gerrard-hall-100/gerrard-hall-100.zip
+    ZIP_FNAME=gerrard-hall-100.zip
+
+  elif [ "$DATASET_NAME" == "south-building-128" ]; then
+    WGET_URL1=https://github.com/johnwlambert/gtsfm-datasets-mirror/releases/download/south-building-128/south-building-128.zip
+    ZIP_FNAME=south-building-128.zip
   fi
 
   # Download the data.
@@ -125,6 +133,13 @@ function download_and_unzip_dataset_files {
   elif [ "$DATASET_NAME" == "2011205_rc3" ]; then
     unzip -qq 2011205_rc3.zip
     tar -xvf cache_rc3_deep.tar.gz
+
+  elif [ "$DATASET_NAME" == "gerrard-hall-100" ]; then
+    unzip gerrard-hall-100.zip
+
+  elif [ "$DATASET_NAME" == "south-building-128" ]; then
+    unzip south-building-128.zip
+
   fi
 }
 

diff --git a/.github/scripts/execute_single_benchmark.sh b/.github/scripts/execute_single_benchmark.sh
@@ -27,6 +27,13 @@ elif [ "$DATASET_NAME" == "skydio-501" ]; then
 elif [ "$DATASET_NAME" == "notre-dame-20" ]; then
   IMAGES_DIR=notre-dame-20/images
   COLMAP_FILES_DIRPATH=notre-dame-20/notre-dame-20-colmap
+elif [ "$DATASET_NAME" == "gerrard-hall-100" ]; then
+  IMAGES_DIR=gerrard-hall-100/images
+  COLMAP_FILES_DIRPATH=gerrard-hall-100/colmap-3.7-sparse-txt-2023-07-27
+elif [ "$DATASET_NAME" == "south-building-128" ]; then
+  IMAGES_DIR=south-building-128/images
+  #COLMAP_FILES_DIRPATH=south-building-128/colmap-official-2016-10-05
+  COLMAP_FILES_DIRPATH=south-building-128/colmap-2023-07-28-txt
 fi
 
 echo "Config: ${CONFIG_NAME}, Loader: ${LOADER_NAME}"
@@ -44,26 +51,31 @@ fi
 if [ "$LOADER_NAME" == "olsson-loader" ]; then
   python gtsfm/runner/run_scene_optimizer_olssonloader.py \
     --dataset_root $DATASET_ROOT \
-    --image_extension $IMAGE_EXTENSION \
-    --config_name ${CONFIG_NAME}.yaml \
+    --config_name unified \
+    --correspondence_generator_config_name ${CONFIG_NAME} \
     --max_frame_lookahead $MAX_FRAME_LOOKAHEAD \
     --max_resolution ${MAX_RESOLUTION} \
-    ${SHARE_INTRINSICS_ARG}
+    ${SHARE_INTRINSICS_ARG} \
+    --mvs_off
 
 elif [ "$LOADER_NAME" == "colmap-loader" ]; then
   python gtsfm/runner/run_scene_optimizer_colmaploader.py \
     --images_dir ${IMAGES_DIR} \
     --colmap_files_dirpath $COLMAP_FILES_DIRPATH \
-    --config_name ${CONFIG_NAME}.yaml \
+    --config_name unified \
+    --correspondence_generator_config_name ${CONFIG_NAME} \
     --max_frame_lookahead $MAX_FRAME_LOOKAHEAD \
     --max_resolution ${MAX_RESOLUTION} \
-    ${SHARE_INTRINSICS_ARG}
+    ${SHARE_INTRINSICS_ARG} \
+    --mvs_off
 
 elif [ "$LOADER_NAME" == "astrovision" ]; then
   python gtsfm/runner/run_scene_optimizer_astrovision.py \
     --data_dir $DATASET_ROOT \
-    --config_name ${CONFIG_NAME}.yaml \
+    --config_name unified \
+    --correspondence_generator_config_name ${CONFIG_NAME} \
     --max_frame_lookahead $MAX_FRAME_LOOKAHEAD \
     --max_resolution ${MAX_RESOLUTION} \
-    ${SHARE_INTRINSICS_ARG}
+    ${SHARE_INTRINSICS_ARG} \
+    --mvs_off
 fi
diff --git a/.github/scripts/execute_single_benchmark_self_hosted.sh b/.github/scripts/execute_single_benchmark_self_hosted.sh
@@ -34,7 +34,6 @@ fi
 if [ "$LOADER_NAME" == "olsson-loader" ]; then
   python gtsfm/runner/run_scene_optimizer_olssonloader.py \
     --dataset_root $DATASET_PREFIX/$DATASET_ROOT \
-    --image_extension $IMAGE_EXTENSION \
     --config_name ${CONFIG_NAME}.yaml \
     --max_frame_lookahead $MAX_FRAME_LOOKAHEAD \
     --max_resolution ${MAX_RESOLUTION} \

diff --git a/.github/scripts/setup.sh b/.github/scripts/setup.sh
@@ -14,6 +14,8 @@ conda info --envs
 
 cd $GITHUB_WORKSPACE
 pip install -e .
+git submodule init
+git submodule update
 
 ##########################################################
 # Download pre-trained model weights

diff --git a/.github/workflows/benchmark-self-hosted.yml b/.github/workflows/benchmark-self-hosted.yml
@@ -29,7 +29,7 @@ jobs:
       PYTHON_VERSION: 3.8
 
     steps:
-      - uses: actions/checkout@v3.5.3
+      - uses: actions/checkout@v3.6.0
       - name: Cache frontend
         uses: actions/cache@v3
         env:

diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
@@ -12,18 +12,21 @@ jobs:
       matrix:
         config_dataset_info:
           [
-            # config                     dataset                lookahead   img-extension  source      loader          max-res  share-intrinsics
-            [sift_front_end,             door-12,               12,         JPG,           test_data,  olsson-loader,  1296,    true],
-            [deep_front_end,             door-12,               12,         JPG,           test_data,  olsson-loader,  1296,    true],
-            [sift_front_end,             skydio-8,              8,          jpg,           gdrive ,    colmap-loader,  760,     true],
-            [deep_front_end,             skydio-8,              8,          jpg,           gdrive,     colmap-loader,  760,     true],
-            [sift_front_end,             skydio-32,             32,         jpg,           gdrive,     colmap-loader,  760,     true],
-            [deep_front_end,             skydio-32,             32,         jpg,           gdrive,     colmap-loader,  760,     true],
-            [sift_front_end,             palace-fine-arts-281,  25,         jpg,           wget,       olsson-loader,  320,     true],
-            [deep_front_end,             notre-dame-20,         20,         jpg,           gdrive,     colmap-loader,  760,     false],
-            [sift_front_end_astrovision, 2011205_rc3,           65,         png,           wget,       astrovision,    1024,    true],
-            [deep_front_end_astrovision, 2011205_rc3,           65,         png,           wget,       astrovision,    1024,    true],
-            [synthetic_front_end,   tanks-and-temples-barn-410, 4,          jpg,           wget,    tanks-and-temples, 1080,    true],
+            # config              dataset                lookahead   img-extension  source      loader          max-res  share-intrinsics
+            [sift,                door-12,               15,         JPG,           test_data,  olsson-loader,  1296,    true],
+            [lightglue,           door-12,               15,         JPG,           test_data,  olsson-loader,  1296,    true],
+            [sift,                skydio-8,              15,         jpg,           gdrive ,    colmap-loader,  760,     true],
+            [lightglue,           skydio-8,              15,         jpg,           gdrive,     colmap-loader,  760,     true],
+            [sift,                skydio-32,             15,         jpg,           gdrive,     colmap-loader,  760,     true],
+            [lightglue,           skydio-32,             15,         jpg,           gdrive,     colmap-loader,  760,     true],
+            [sift,                palace-fine-arts-281,  15,         jpg,           wget,       olsson-loader,  320,     true],
+            [lightglue,           notre-dame-20,         15,         jpg,           gdrive,     colmap-loader,  760,     false],
+            [sift,                2011205_rc3,           15,         png,           wget,       astrovision,    1024,    true],
+            [lightglue,           2011205_rc3,           15,         png,           wget,       astrovision,    1024,    true],
+            [sift,                gerrard-hall-100,      15,         jpg,           wget,       colmap-loader,  760,     true],
+            [lightglue,           gerrard-hall-100,      15,         jpg,           wget,       colmap-loader,  760,     true],
+            [sift,                south-building-128,    15,         jpg,           wget,       colmap-loader,  760,     true],
+            [lightglue,           south-building-128,    15,         jpg,           wget,       colmap-loader,  760,     true],  
           ]
     defaults:
       run:
@@ -33,7 +36,7 @@ jobs:
       PYTHON_VERSION: 3.8
 
     steps:
-      - uses: actions/checkout@v3.5.3
+      - uses: actions/checkout@v3.6.0
       - name: Cache frontend
         uses: actions/cache@v3
         env:

diff --git a/.github/workflows/build-wheels.yml b/.github/workflows/build-wheels.yml
@@ -18,7 +18,7 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v3.5.3
+      - uses: actions/checkout@v3.6.0
       - uses: conda-incubator/setup-miniconda@v2
         with:
           mamba-version: "*"

diff --git a/.github/workflows/test-python.yml b/.github/workflows/test-python.yml
@@ -14,7 +14,7 @@ jobs:
       PYTHON_VERSION: 3.8
 
     steps:
-      - uses: actions/checkout@v3.5.3
+      - uses: actions/checkout@v3.6.0
       - uses: conda-incubator/setup-miniconda@v2
         with:
           mamba-version: "*"

diff --git a/.github/workflows/test-reproducibility.yml b/.github/workflows/test-reproducibility.yml
@@ -14,7 +14,7 @@ jobs:
       PYTHON_VERSION: 3.8
 
     steps:
-      - uses: actions/checkout@v3.5.3
+      - uses: actions/checkout@v3.6.0
       - uses: conda-incubator/setup-miniconda@v2
         with:
           mamba-version: "*"

diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "thirdparty/LightGlue"]
+	path = thirdparty/LightGlue
+	url = https://github.com/cvg/LightGlue.git
diff --git a/README.md b/README.md
@@ -1,18 +1,10 @@
 ![Alt text](gtsfm-logo.png?raw=true)
 
-# Georgia Tech Structure from Motion (GTSfM) Library
-
 | Platform     | Build Status  |
 |:------------:| :-------------:|
 | Ubuntu 20.04.3 |  ![Linux CI](https://github.com/borglab/gtsfm/actions/workflows/test-python.yml/badge.svg?branch=master) |
 
-### What is GTSfM?
-
-GTSfM is an end-to-end SfM pipeline based on [GTSAM](https://github.com/borglab/gtsam). GTSfM was designed from the ground-up to natively support parallel computation using [Dask](https://dask.org/).
-
-<p align="left">
-  <img src="https://mma.prnewswire.com/media/1832641/Dask_Logo_lockup_primary_Logo.jpg?p=facebook" height="50">
-</p>
+Georgia Tech Structure-from-Motion (GTSfM) is an end-to-end SfM pipeline based on [GTSAM](https://github.com/borglab/gtsam). GTSfM was designed from the ground-up to natively support parallel computation using [Dask](https://dask.org/).
 
 <p align="left">
   <img src="https://user-images.githubusercontent.com/16724970/121294002-a4d7a400-c8ba-11eb-895e-a50305c049b6.gif" height="315" title="Olsson Lund Dataset: Door, 12 images">
@@ -26,32 +18,28 @@ GTSfM is an end-to-end SfM pipeline based on [GTSAM](https://github.com/borglab/
 
 ## License
 
-The majority of our code is governed by a MIT license and is suitable for commercial use. However, certain implementations featured in our repo (SuperPoint, SuperGlue) are governed by a non-commercial license and may not be used commercially.
+The majority of our code is governed by an MIT license and is suitable for commercial use. However, certain implementations featured in our repo (e.g., SuperPoint, SuperGlue) are governed by a non-commercial license and may not be used commercially.
 
 ## Installation
 
-GTSfM requires no compilation, as Python wheels are provided for GTSAM.
+GTSfM requires no compilation, as Python wheels are provided for GTSAM. This repository includes external repositories as Git submodules –- don't forget to pull submodules with `git submodule update --init --recursive` or clone with `git clone --recursive https://github.com/borglab/gtsfm.git`.
 
-To install GTSfM, first, we need to create a conda environment.
+To run GTSfM, first, we need to create a conda environment with the required dependencies.
 
-**Linux**
-On Linux, with CUDA support:
+On **Linux**, with CUDA support, run:
 
 ```bash
 conda env create -f environment_linux.yml
 conda activate gtsfm-v1 # you may need "source activate gtsfm-v1" depending upon your bash and conda set-up
 ```
 
-**Mac**
-On Mac OSX, there is no CUDA support, so run:
+On **macOS**, there is no CUDA support, so run:
 
 ```bash
 conda env create -f environment_mac.yml
 conda activate gtsfm-v1
 ```
 
-## Completing Installation
-
 Now, install `gtsfm` as a module:
 
 ```bash
@@ -60,7 +48,7 @@ pip install -e .
 
 Make sure that you can run `python -c "import gtsfm; import gtsam; print('hello world')"` in python, and you are good to go!
 
-## Usage Guide (Running 3d Reconstruction)
+## Usage Guide (Running 3D Reconstruction)
 
 Before running reconstruction, if you intend to use modules with pre-trained weights, such as SuperPoint, SuperGlue, or PatchmatchNet, please first run:
 
@@ -94,7 +82,7 @@ python gtsfm/runner/run_scene_optimizer_olssonloader.py --dataset_root tests/dat
 
 You can view/monitor the distributed computation using the [Dask dashboard](http://localhost:8787/status).
 
-Currently we require EXIF data embedded into your images (or you can provide ground truth intrinsics in the expected format for an Olsson dataset, or COLMAP-exported text data, etc)
+Currently we require EXIF data embedded into your images (or you can provide ground truth intrinsics in the expected format for an Olsson dataset, or COLMAP-exported text data, etc.)
 
 If you would like to compare GTSfM output with COLMAP output, please run:
 
@@ -107,7 +95,7 @@ where `COLMAP_FILES_DIRPATH` is a directory where .txt files such as `cameras.tx
 To visualize the result using Open3D, run:
 
 ```bash
-python gtsfm/visualization/view_scene.py --rendering_library open3d --rendering_style point
+python gtsfm/visualization/view_scene.py
 ```
 
 For users that are working with the same dataset repeatedly, we provide functionality to cache front-end results for