gtsfm
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borglab
End-to-end SFM framework based on GTSAM
We changed the format of the hilti dataset, and hence the loader was changed to offer both new and old format of the dataset. As the format of the dataset...
- made image list into image dict - do not split results but used delayed_features DO NOT review yet, trying to remove clutter for easier review
I upgraded most packages, though this not work on my M1 mac because of numjs. @adisingh50 Do we really need *all* of numjs? Or is there a smaller matrix package...
TODO: add number of tracks discarded for feature cycle consistency in matching to HTML report.
Changing RANSAC threshold according to [Image Matching Across Wide Baselines: From Paper to Practice](https://arxiv.org/pdf/2003.01587.pdf).
Very rarely (but sometimes), we get an indexing out of bounds issue for (sift_front_end, palace-fine-arts-281, 25, jpg, wget, olsson-loader, 320, true) [Benchmark (sift_front_end, palace-fine-arts-281, 25, jpg, wget, olsson-loader, 320, true)](https://github.com/borglab/gtsfm/runs/5233761405?check_suite_focus=true#logs)...
prevent repeated I/O to get image shapes, for intrinsics etc. Read image shapes only once at startup. I/O for 4k x 3k images (12 MP) is very slow for Skydio...
Register 3 views using averaging or PNP, then perform BA, and check the support for the triplet via reprojection error.