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Reduce RANSAC threshold #737

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Reduce RANSAC threshold #737

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429afd9
Reduce RANSAC threshold to 0.5 pixels
travisdriver Nov 12, 2023
c2595e2
switch to MAGSAC++
travisdriver Nov 13, 2023
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4 changes: 2 additions & 2 deletions gtsfm/configs/deep_front_end.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,14 +38,14 @@ SceneOptimizer:
two_view_estimator_obj:
_target_: gtsfm.two_view_estimator.TwoViewEstimator
bundle_adjust_2view: True
eval_threshold_px: 4 # in px
eval_threshold_px: 0.5 # only for evaluation and metrics purposes
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Why are we changing the evaluation threshold too?

ba_reproj_error_thresholds: [0.5]
bundle_adjust_2view_maxiters: 100

verifier:
_target_: gtsfm.frontend.verifier.ransac.Ransac
use_intrinsics_in_verification: True
estimation_threshold_px: 4 # for H/E/F estimators
estimation_threshold_px: 0.5 # for H/E/F estimators

triangulation_options:
_target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
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4 changes: 2 additions & 2 deletions gtsfm/configs/deep_front_end_astrovision.yaml
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Expand Up @@ -39,14 +39,14 @@ SceneOptimizer:
two_view_estimator_obj:
_target_: gtsfm.two_view_estimator.TwoViewEstimator
bundle_adjust_2view: True
eval_threshold_px: 4 # in px
eval_threshold_px: 0.5 # only for evaluation and metrics purposes
ba_reproj_error_thresholds: [0.5]
bundle_adjust_2view_maxiters: 100

verifier:
_target_: gtsfm.frontend.verifier.ransac.Ransac
use_intrinsics_in_verification: True
estimation_threshold_px: 4 # for H/E/F estimators
estimation_threshold_px: 0.5 # for H/E/F estimators

triangulation_options:
_target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
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4 changes: 2 additions & 2 deletions gtsfm/configs/sift_front_end.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -38,14 +38,14 @@ SceneOptimizer:
two_view_estimator_obj:
_target_: gtsfm.two_view_estimator.TwoViewEstimator
bundle_adjust_2view: True
eval_threshold_px: 4 # in px
eval_threshold_px: 0.5 # only for evaluation and metrics purposes
ba_reproj_error_thresholds: [0.5]
bundle_adjust_2view_maxiters: 100

verifier:
_target_: gtsfm.frontend.verifier.ransac.Ransac
use_intrinsics_in_verification: True
estimation_threshold_px: 4 # for H/E/F estimators
estimation_threshold_px: 0.5 # for H/E/F estimators

triangulation_options:
_target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
Expand Down
4 changes: 2 additions & 2 deletions gtsfm/configs/sift_front_end_astrovision.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -37,14 +37,14 @@ SceneOptimizer:
two_view_estimator_obj:
_target_: gtsfm.two_view_estimator.TwoViewEstimator
bundle_adjust_2view: True
eval_threshold_px: 4 # in px
eval_threshold_px: 0.5 # only for evaluation and metrics purposes
ba_reproj_error_thresholds: [0.5]
bundle_adjust_2view_maxiters: 100

verifier:
_target_: gtsfm.frontend.verifier.ransac.Ransac
use_intrinsics_in_verification: True
estimation_threshold_px: 4 # for H/E/F estimators
estimation_threshold_px: 0.5 # for H/E/F estimators

triangulation_options:
_target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
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2 changes: 1 addition & 1 deletion gtsfm/frontend/verifier/ransac.py
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ def estimate_E(
uv_norm_i2: np.ndarray,
match_indices: np.ndarray,
fx: float,
robust_estimation_type: RobustEstimationType = RobustEstimationType.USAC_ACCURATE,
robust_estimation_type: RobustEstimationType = RobustEstimationType.USAC_MAGSAC,
) -> Tuple[np.ndarray, np.ndarray]:
"""Estimate the Essential matrix from correspondences.

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