gtsfm

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Theia Match Verification

6

This PR implements epipolar-guided matching using pyTheia. This was done by wrapping the `theia::TwoViewMatchGeometricVerification::VerifyMatches` method. I borrowed some things from the feature/theia branch that @ayushbaid put together a while back,...

travisdriver

Setting up Gendarmenmarkt benchmark

1

travisdriver

johnwlambert

Refactor Triangulation Reprojection Error

2

When we triangulate with RANSAC, we choose the inliers based on the reprojection errors from a track triangulated with _two cameras_. Then, we return the inliers, triangulate again with _all...

travisdriver

johnwlambert

travisdriver

Add Homography multi model fitting check

2

Per [COLMAP](https://demuc.de/papers/schoenberger2016sfm.pdf) section 4.1: ``` We propose a multi-model geometric verification strategy to augment the scene graph with the appropriate geometric relation. First, we estimate a fundamental matrix. If at...

johnwlambert

I added a couple of utilities to convert COLMAP data types to GTSfM types to make it easier for people working with COLMAP formatted data (me :)) to use our...

travisdriver

Cycle consistency plots are written synchronously (does not work on cluster)

1

Cycle consistency filtering writes plots in the run() method, without any dask.annotate() call to specify which machine to write these plots on. This fails on the cluster because there is...

akshay-krishnan

Fix 1DSFM on the lund dataset

1

We cannot recover the correct poses right now and the unit test requires very high tolerances to pass.

ayushbaid