Add tanks and temples dataset loader

gtsfm/configs/synthetic_front_end.yaml

@@ -0,0 +1,93 @@
+# Synthetic front-end configuration specifically for the Tanks & Temples dataset.
+
+SceneOptimizer:
+  _target_: gtsfm.scene_optimizer.SceneOptimizer
+  save_gtsfm_data: True
+  save_two_view_correspondences_viz: False
+  save_3d_viz: True
+  pose_angular_error_thresh: 5 # degrees
+
+  image_pairs_generator:
+    _target_: gtsfm.retriever.image_pairs_generator.ImagePairsGenerator
+    global_descriptor:
+      _target_: gtsfm.frontend.cacher.global_descriptor_cacher.GlobalDescriptorCacher
+      global_descriptor_obj:
+        _target_: gtsfm.frontend.global_descriptor.netvlad_global_descriptor.NetVLADGlobalDescriptor
+
+    # NOTE: May not converge with SequentialRetriever only.
+    retriever:
+      _target_: gtsfm.retriever.joint_netvlad_sequential_retriever.JointNetVLADSequentialRetriever
+      num_matched: 2
+      min_score: 0.2
+      max_frame_lookahead: 3
+
+  correspondence_generator:
+    _target_: gtsfm.frontend.correspondence_generator.synthetic_correspondence_generator.SyntheticCorrespondenceGenerator
+    dataset_root: /usr/local/gtsfm-data/Tanks_and_Temples_Barn_410
+    scene_name: Barn
+
+  two_view_estimator:
+    _target_: gtsfm.two_view_estimator.TwoViewEstimator
+    bundle_adjust_2view: False
+    eval_threshold_px: 4 # in px
+    ba_reproj_error_thresholds: [0.5]
+    bundle_adjust_2view_maxiters: 100
+
+    verifier:
+      _target_: gtsfm.frontend.verifier.loransac.LoRansac
+      use_intrinsics_in_verification: True
+      estimation_threshold_px: 0.5 # 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
+
+    # 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
+
+    rot_avg_module:
+      _target_: gtsfm.averaging.rotation.shonan.ShonanRotationAveraging
+      # Use a very low value.
+      two_view_rotation_sigma: 0.1
+
+    trans_avg_module:
+      _target_: gtsfm.averaging.translation.averaging_1dsfm.TranslationAveraging1DSFM
+      robust_measurement_noise: True
+      projection_sampling_method: SAMPLE_INPUT_MEASUREMENTS
+
+    data_association_module:
+      _target_: gtsfm.data_association.data_assoc.DataAssociation
+      min_track_len: 2
+      triangulation_options:
+        _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
+        reproj_error_threshold: 10
+        mode:
+          _target_: gtsfm.data_association.point3d_initializer.TriangulationSamplingMode
+          value: RANSAC_SAMPLE_UNIFORM
+        max_num_hypotheses: 100
+      save_track_patches_viz: False
+
+    bundle_adjustment_module:
+      _target_: gtsfm.bundle.bundle_adjustment.BundleAdjustmentOptimizer
+      reproj_error_thresholds: [10, 5, 3] # for (multistage) post-optimization filtering
+      robust_measurement_noise: True
+      shared_calib: False
+      cam_pose3_prior_noise_sigma: 0.01
+      calibration_prior_noise_sigma: 1e-5
+      measurement_noise_sigma: 1.0
+
+  # # comment out to not run
+  # dense_multiview_optimizer:
+  #   _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet