Remove correspondences from translation averaging outliers downstream

[akshay-krishnan]

No description provided.

[akshay-krishnan]

Based on evaluation on larger datasets, this change produces small improvements (1% Pose AUC post BA) for some datasets (Barn, Kings college, Skansen, Gerrard hall) and small regressions of similar magnitude for others (skydio 501). this also somewhat depends on the frontend being used.

Some example numbers:

dataset	BA pose AUC with change	BA pose AUC without change
Barn - LOFTR	22.71	22.69
Barn - SIFT	40.94	39.39
Gerrard Hall - SIFT	6.36	5.90
Gerrard Hall - LOFTR	4.71	7.52
Kings college - SIFT	42.80	40.84
Kings college - LOFTR	66.12	59.55
Palace - SIFT	82.45	82.88
Skansen - SIFT	87.86	87.19
Skansen - superglue	74.92	74.73
skydio501 - LOFTR	5.16	5.70
skydio501 - SIFT	1.93	10.1
south building - LOFTR	44.45	44.08
south building - SIFT	49.66	48.77

more numbers are in the spreadsheet (ta-outliers-x)

[akshay-krishnan]

requesting high-level thoughts on whether we should proceed with this change. Shall update the code if thats the case.

[travisdriver]

What degree threshold are the previous pose AUC statistics at?

[akshay-krishnan]

Most of them are at 1 deg, I used 2.5 degrees for a couple (including skydio501) because their pose AUCs at 1 deg are 0. Ive highlighted the rows in the spreadsheet that I used.

[johnwlambert]

nit: missing type annotations

[johnwlambert]

Btw @akshay-krishnan I believe CI is failing:

=========================== short test summary info ============================
FAILED tests/averaging/translation/test_averaging_1dsfm.py::TestTranslationAveraging1DSFM::test_circle_all_edges - ValueError: too many values to unpack (expected 2)
FAILED tests/averaging/translation/test_averaging_1dsfm.py::TestTranslationAveraging1DSFM::test_computation_graph - ValueError: too many values to unpack (expected 2)
FAILED tests/averaging/translation/test_averaging_1dsfm.py::TestTranslationAveraging1DSFM::test_lund_door - ValueError: too many values to unpack (expected 2)
FAILED tests/averaging/translation/test_averaging_1dsfm.py::TestTranslationAveraging1DSFM::test_panorama - ValueError: too many values to unpack (expected 2)
FAILED tests/averaging/translation/test_averaging_1dsfm.py::Test1dsfmAllOutliers::test_outlier_case_missing_value - ValueError: too many values to unpack (expected 2)
FAILED tests/frontend/detector_descriptor/test_d2net.py::TestD2NetDetDesc::test_coordinates_range - EOFError: Ran out of input
FAILED tests/frontend/detector_descriptor/test_d2net.py::TestD2NetDetDesc::test_detect_and_describe_shape - EOFError: Ran out of input
FAILED tests/frontend/detector_descriptor/test_d2net.py::TestD2NetDetDesc::test_number_of_detections - EOFError: Ran out of input
FAILED tests/frontend/detector_descriptor/test_d2net.py::TestD2NetDetDesc::test_pickleable - EOFError: Ran out of input
FAILED tests/frontend/detector_descriptor/test_d2net.py::TestD2NetDetDesc::test_scale - EOFError: Ran out of input
===== 10 failed, 425 passed, 7 skipped, 24 warnings in 1023.58s (0:17:03) ======

[johnwlambert]

could you pull in the latest from master?