Use Colmap verifier

borglab · Oct 15, 2024 · 1ce2e2e · 1ce2e2e
1 parent c04387b
commit 1ce2e2e
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Showing 3 changed files with 6 additions and 6 deletions.
diff --git a/gtsfm/configs/correspondence/sift.yaml b/gtsfm/configs/correspondence/sift.yaml
@@ -6,8 +6,8 @@ CorrespondenceGenerator:
   detector_descriptor:
     _target_: gtsfm.frontend.cacher.detector_descriptor_cacher.DetectorDescriptorCacher
     detector_descriptor_obj:
-      _target_: gtsfm.frontend.detector_descriptor.colmap_sift.ColmapSIFTDetectorDescriptor
-      #_target_: gtsfm.frontend.detector_descriptor.sift.SIFTDetectorDescriptor
+      #_target_: gtsfm.frontend.detector_descriptor.colmap_sift.ColmapSIFTDetectorDescriptor
+      _target_: gtsfm.frontend.detector_descriptor.sift.SIFTDetectorDescriptor
       max_keypoints: 5000
 
   matcher:

diff --git a/gtsfm/configs/unified.yaml b/gtsfm/configs/unified.yaml
@@ -44,7 +44,7 @@ SceneOptimizer:
       bundle_adjust_2view_maxiters: 100
 
       verifier:
-        _target_: gtsfm.frontend.verifier.ransac.Ransac
+        _target_: gtsfm.frontend.verifier.loransac.LoRansac
         use_intrinsics_in_verification: True
         estimation_threshold_px: 4 # for H/E/F estimators
 

diff --git a/gtsfm/frontend/verifier/loransac.py b/gtsfm/frontend/verifier/loransac.py
@@ -27,9 +27,9 @@
 
 
 MIN_INLIER_RATIO = 0.01
-MIN_NUM_TRIALS = 100000
-MAX_NUM_TRIALS = 1000000
-CONFIDENCE = 0.999999
+MIN_NUM_TRIALS = 1000
+MAX_NUM_TRIALS = 10000
+CONFIDENCE = 0.9999
 
 
 class LoRansac(VerifierBase):