Remove correspondences from translation averaging outliers downstream

gtsfm/averaging/translation/averaging_1dsfm.py

@@ -491,7 +491,7 @@ def run_translation_averaging(
         i2Ti1_priors: Dict[Tuple[int, int], PosePrior] = {},
         scale_factor: float = 1.0,
         gt_wTi_list: List[Optional[Pose3]] = [],
-    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup]]:
+    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup], Optional[List[Tuple[int, int]]]]:
         """Run the translation averaging.
 
         Args:
@@ -508,6 +508,7 @@ def run_translation_averaging(
                 may contain `None` where the global translations could not be computed (either underconstrained system
                 or ill-constrained system).
             A GtsfmMetricsGroup of 1DSfM metrics.
+            List of camera pair indices that are classified as inliers by 1dsfm.
         """
         logger.info("Running translation averaging on %d unit translations", len(i2Ui1_dict))
 
@@ -565,7 +566,7 @@ def run_translation_averaging(
         ta_metrics.add_metric(GtsfmMetric("outlier_rejection_duration_sec", inlier_computation_time))
         ta_metrics.add_metric(GtsfmMetric("optimization_duration_sec", averaging_time))
 
-        return wTi_list, ta_metrics
+        return wTi_list, ta_metrics, list(w_i2Ui1_dict_inliers.keys())
 
 
 def compute_metrics(

gtsfm/averaging/translation/translation_averaging_base.py

@@ -58,7 +58,7 @@ def run_translation_averaging(
         i2Ti1_priors: Dict[Tuple[int, int], PosePrior] = {},
         scale_factor: float = 1.0,
         gt_wTi_list: List[Optional[Pose3]] = [],
-    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup]]:
+    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup], Optional[List[Tuple[int, int]]]]:
         """Run the translation averaging, and combine the estimated global translations with global rotations.
 
         Args:
@@ -76,6 +76,8 @@ def run_translation_averaging(
             Global camera poses wTi. The number of entries in the list is `num_images`. The list
                 may contain `None` where the global translations could not be computed (either underconstrained system
                 or ill-constrained system).
+            A GtsfmMetricsGroup with translation averaging metrics.
+            Indices of inlier measurements (list of camera pair indices).
         """
 
     def create_computation_graph(
@@ -89,7 +91,7 @@ def create_computation_graph(
         i2Ti1_priors: Dict[Tuple[int, int], PosePrior] = {},
         scale_factor: float = 1.0,
         gt_wTi_list: List[Optional[Pose3]] = [],
-    ) -> Tuple[Delayed, Delayed]:
+    ) -> Tuple[Delayed, Delayed, Delayed]:
         """Create the computation graph for performing translation averaging.
 
         Args:
@@ -106,8 +108,9 @@ def create_computation_graph(
         Returns:
             Global poses wrapped as Delayed.
             A GtsfmMetricsGroup with translation averaging metrics wrapped as Delayed.
+            Indices of inlier measurements (List[tuple[int, int]]) after running 1dsfm wrapped as Delayed.
         """
-        return dask.delayed(self.run_translation_averaging, nout=2)(
+        return dask.delayed(self.run_translation_averaging, nout=3)(
             num_images=num_images,
             i2Ui1_dict=i2Ui1_graph,
             wRi_list=wRi_graph,

gtsfm/multi_view_optimizer.py

@@ -128,7 +128,7 @@ def create_computation_graph(
         )
         tracks2d_graph = dask.delayed(get_2d_tracks)(viewgraph_v_corr_idxs_graph, keypoints_list)
 
-        wTi_graph, ta_metrics = self.trans_avg_module.create_computation_graph(
+        wTi_graph, ta_metrics, ta_inlier_idx_i1_i2 = self.trans_avg_module.create_computation_graph(
             num_images,
             pruned_i2Ui1_graph,
             delayed_wRi,
@@ -138,13 +138,16 @@ def create_computation_graph(
             relative_pose_priors,
             gt_wTi_list=gt_wTi_list,
         )
+        ta_v_corr_idxs_graph = dask.delayed(filter_corr_by_idx)(viewgraph_v_corr_idxs_graph, ta_inlier_idx_i1_i2)
+        ta_inlier_tracks_2d_graph = dask.delayed(get_2d_tracks)(ta_v_corr_idxs_graph, keypoints_list)
+        # TODO(akshay-krishnan): update pose priors also with the same inlier indices, right now these are unused.
 
         init_cameras_graph = dask.delayed(init_cameras)(wTi_graph, all_intrinsics)
 
         ba_input_graph, data_assoc_metrics_graph = self.data_association_module.create_computation_graph(
             num_images,
             init_cameras_graph,
-            tracks2d_graph,
+            ta_inlier_tracks_2d_graph,
             cameras_gt,
             relative_pose_priors,
             images,
@@ -196,3 +199,16 @@ def get_2d_tracks(
 ) -> List[SfmTrack2d]:
     tracks_estimator = CppDsfTracksEstimator()
     return tracks_estimator.run(corr_idxs_dict, keypoints_list)
+
+
+def filter_corr_by_idx(correspondences: Dict[Tuple[int, int], np.ndarray], idxs: List[Tuple[int, int]]):
+    """Filter correspondences by indices.
+
+    Args:
+        correspondences: Correspondences as a dictionary.
+        idxs: Indices to filter by.
+
+    Returns:
+        Filtered correspondences.
+    """
+    return {k: v for k, v in correspondences.items() if k in idxs}

tests/averaging/translation/test_averaging_1dsfm.py

@@ -129,7 +129,7 @@ def __execute_test(
     ) -> None:
         """Helper function to run the averagaing and assert w/ expected."""
 
-        wTi_computed, _ = self.obj.run_translation_averaging(len(wRi_input), i2Ui1_input, wRi_input)
+        wTi_computed, _, _ = self.obj.run_translation_averaging(len(wRi_input), i2Ui1_input, wRi_input)
         wTi_expected = [Pose3(wRi, wti) for wRi, wti in zip(wRi_input, wti_expected)]
         self.assertTrue(
             geometry_comparisons.compare_global_poses(
@@ -194,7 +194,7 @@ def test_computation_graph(self):
                 i2Ui1_dict[(i1, i2)] = Unit3(expected_wTi_list[i2].between(expected_wTi_list[i1]).translation())
 
         # use the `run` API to get expected results, ignore the metrics
-        wTi_expected, _ = self.obj.run_translation_averaging(len(wRi_list), i2Ui1_dict, wRi_list)
+        wTi_expected, _, _ = self.obj.run_translation_averaging(len(wRi_list), i2Ui1_dict, wRi_list)
 
         # Form computation graph and execute
         i2Ui1_graph = dask.delayed(i2Ui1_dict)
@@ -205,7 +205,7 @@ def test_computation_graph(self):
             wRi_graph,
         )
         with dask.config.set(scheduler="single-threaded"):
-            wTi_computed, _ = dask.compute(computation_graph)[0]
+            wTi_computed, _, _ = dask.compute(computation_graph)[0]
 
         self.assertTrue(
             geometry_comparisons.compare_global_poses(
@@ -285,7 +285,7 @@ def test_outlier_case_missing_value(self) -> None:
             (3, 4): np.array([0.994791, -0.033332, -0.0963361]),
         }
         i2Ui1_input = {(i, j): Unit3(t) for (i, j), t in i2Ui1_input.items()}
-        wTi_computed, _ = self.obj.run_translation_averaging(len(wRi_input), i2Ui1_input, wRi_input)
+        wTi_computed, _, _ = self.obj.run_translation_averaging(len(wRi_input), i2Ui1_input, wRi_input)
 
         assert len(wTi_computed) == 5
         assert wTi_computed[-1] is None