From 2d082a99b81b4c8d59aa16302021416724b6ae7a Mon Sep 17 00:00:00 2001
From: Akshay Krishnan <akshay.krishnan.30@gmail.com>
Date: Fri, 24 May 2024 15:30:31 +0000
Subject: [PATCH] Revert "Revert "Merge branch 'master' of
 github.com:borglab/gtsfm""

This reverts commit 6abf345522a215e25d34c0198bee0ae87eb856fa.
---
 .../rotation/rotation_averaging_base.py       |  37 +-
 gtsfm/averaging/rotation/shonan.py            | 100 +++--
 gtsfm/configs/unified.yaml                    |   4 +-
 gtsfm/frontend/verifier/verifier_base.py      |   6 +
 gtsfm/multi_view_optimizer.py                 |  35 +-
 gtsfm/two_view_estimator_cacher.py            |   4 +-
 rtf_vis_tool/package-lock.json                | 120 ++---
 scripts/benchmark_wildcat.sh                  | 422 +++++++++---------
 scripts/eth3d_benchmark.sh                    | 182 ++++----
 tests/averaging/rotation/test_shonan.py       |  31 +-
 tests/test_two_view_estimator_cacher.py       |  16 +-
 11 files changed, 544 insertions(+), 413 deletions(-)

diff --git a/gtsfm/averaging/rotation/rotation_averaging_base.py b/gtsfm/averaging/rotation/rotation_averaging_base.py
index feb1b3597..a98912557 100644
--- a/gtsfm/averaging/rotation/rotation_averaging_base.py
+++ b/gtsfm/averaging/rotation/rotation_averaging_base.py
@@ -8,6 +8,7 @@
 from typing import Dict, List, Optional, Tuple
 
 import dask
+import numpy as np
 from dask.delayed import Delayed
 from gtsam import Pose3, Rot3
 
@@ -42,13 +43,15 @@ def run_rotation_averaging(
         num_images: int,
         i2Ri1_dict: Dict[Tuple[int, int], Optional[Rot3]],
         i1Ti2_priors: Dict[Tuple[int, int], PosePrior],
+        v_corr_idxs: Dict[Tuple[int, int], np.ndarray],
     ) -> List[Optional[Rot3]]:
         """Run the rotation averaging.
 
         Args:
-            num_images: number of poses.
-            i2Ri1_dict: relative rotations as dictionary (i1, i2): i2Ri1.
-            i1Ti2_priors: priors on relative poses as dictionary(i1, i2): PosePrior on i1Ti2.
+            num_images: Number of poses.
+            i2Ri1_dict: Relative rotations as dictionary (i1, i2): i2Ri1.
+            i1Ti2_priors: Priors on relative poses as dictionary(i1, i2): PosePrior on i1Ti2.
+            v_corr_idxs: Dict mapping image pair indices (i1, i2) to indices of verified correspondences.
 
         Returns:
             Global rotations for each camera pose, i.e. wRi, as a list. The number of entries in the list is
@@ -61,6 +64,7 @@ def _run_rotation_averaging_base(
         num_images: int,
         i2Ri1_dict: Dict[Tuple[int, int], Optional[Rot3]],
         i1Ti2_priors: Dict[Tuple[int, int], PosePrior],
+        v_corr_idxs: Dict[Tuple[int, int], np.ndarray],
         wTi_gt: List[Optional[Pose3]],
     ) -> Tuple[List[Optional[Rot3]], GtsfmMetricsGroup]:
         """Runs rotation averaging and computes metrics.
@@ -69,6 +73,7 @@ def _run_rotation_averaging_base(
             num_images: Number of poses.
             i2Ri1_dict: Relative rotations as dictionary (i1, i2): i2Ri1.
             i1Ti2_priors: Priors on relative poses as dictionary(i1, i2): PosePrior on i1Ti2.
+            v_corr_idxs: Dict mapping image pair indices (i1, i2) to indices of verified correspondences.
             wTi_gt: Ground truth global rotations to compare against.
 
         Returns:
@@ -78,7 +83,7 @@ def _run_rotation_averaging_base(
             Metrics on global rotations.
         """
         start_time = time.time()
-        wRis = self.run_rotation_averaging(num_images, i2Ri1_dict, i1Ti2_priors)
+        wRis = self.run_rotation_averaging(num_images, i2Ri1_dict, i1Ti2_priors, v_corr_idxs)
         run_time = time.time() - start_time
 
         metrics = self.evaluate(wRis, wTi_gt)
@@ -93,11 +98,11 @@ def evaluate(self, wRi_computed: List[Optional[Rot3]], wTi_gt: List[Optional[Pos
             wRi_computed: List of global rotations computed.
             wTi_gt: Ground truth global rotations to compare against.
 
-        Raises:
-            ValueError: If the length of the computed and GT list differ.
-
         Returns:
             Metrics on global rotations.
+
+        Raises:
+            ValueError: If the length of the computed and GT list differ.
         """
         wRi_gt = [wTi.rotation() if wTi is not None else None for wTi in wTi_gt]
 
@@ -116,22 +121,28 @@ def create_computation_graph(
         num_images: int,
         i2Ri1_graph: Delayed,
         i1Ti2_priors: Dict[Tuple[int, int], PosePrior],
+        v_corr_idxs: Dict[Tuple[int, int], np.ndarray],
         gt_wTi_list: List[Optional[Pose3]],
     ) -> Tuple[Delayed, Delayed]:
         """Create the computation graph for performing rotation averaging.
 
         Args:
-            num_images: number of poses.
-            i2Ri1_graph: dictionary of relative rotations as a delayed task.
-            i1Ti2_priors: priors on relative poses as (i1, i2): PosePrior on i1Ti2.
-            gt_wTi_list: ground truth poses, to be used for evaluation.
+            num_images: Number of poses.
+            i2Ri1_graph: Dictionary of relative rotations as a delayed task.
+            i1Ti2_priors: Priors on relative poses as (i1, i2): PosePrior on i1Ti2.
+            v_corr_idxs: Dict mapping image pair indices (i1, i2) to indices of verified correspondences.
+            gt_wTi_list: Ground truth poses, to be used for evaluation.
 
         Returns:
-            global rotations wrapped using dask.delayed.
+            Global rotations wrapped using dask.delayed.
         """
 
         wRis, metrics = dask.delayed(self._run_rotation_averaging_base, nout=2)(
-            num_images, i2Ri1_dict=i2Ri1_graph, i1Ti2_priors=i1Ti2_priors, wTi_gt=gt_wTi_list
+            num_images,
+            i2Ri1_dict=i2Ri1_graph,
+            i1Ti2_priors=i1Ti2_priors,
+            v_corr_idxs=v_corr_idxs,
+            wTi_gt=gt_wTi_list,
         )
 
         return wRis, metrics
diff --git a/gtsfm/averaging/rotation/shonan.py b/gtsfm/averaging/rotation/shonan.py
index 08f2c3dc6..ad8643a43 100644
--- a/gtsfm/averaging/rotation/shonan.py
+++ b/gtsfm/averaging/rotation/shonan.py
@@ -16,10 +16,7 @@
 import gtsam
 import numpy as np
 from gtsam import (
-    BetweenFactorPose3,
-    BetweenFactorPose3s,
     LevenbergMarquardtParams,
-    Pose3,
     Rot3,
     ShonanAveraging3,
     ShonanAveragingParameters3,
@@ -29,6 +26,7 @@
 from gtsfm.averaging.rotation.rotation_averaging_base import RotationAveragingBase
 from gtsfm.common.pose_prior import PosePrior
 
+ROT3_DOF = 3
 POSE3_DOF = 6
 
 logger = logger_utils.get_logger()
@@ -39,18 +37,23 @@
 class ShonanRotationAveraging(RotationAveragingBase):
     """Performs Shonan rotation averaging."""
 
-    def __init__(self, two_view_rotation_sigma: float = _DEFAULT_TWO_VIEW_ROTATION_SIGMA) -> None:
+    def __init__(
+        self, two_view_rotation_sigma: float = _DEFAULT_TWO_VIEW_ROTATION_SIGMA, weight_by_inliers: bool = True
+    ) -> None:
         """Initializes module.
 
         Note: `p_min` and `p_max` describe the minimum and maximum relaxation rank.
 
         Args:
             two_view_rotation_sigma: Covariance to use (lower values -> more strictly adhere to input measurements).
+            weight_by_inliers: Whether to weight pairwise costs according to an uncertainty equal to the inverse number
+                of inlier correspondences per edge.
         """
         super().__init__()
         self._two_view_rotation_sigma = two_view_rotation_sigma
         self._p_min = 3
         self._p_max = 64
+        self._weight_by_inliers = weight_by_inliers
 
     def __get_shonan_params(self) -> ShonanAveragingParameters3:
         lm_params = LevenbergMarquardtParams.CeresDefaults()
@@ -59,30 +62,34 @@ def __get_shonan_params(self) -> ShonanAveragingParameters3:
         shonan_params.setCertifyOptimality(True)
         return shonan_params
 
-    def __between_factors_from_2view_relative_rotations(
-        self, i2Ri1_dict: Dict[Tuple[int, int], Rot3], old_to_new_idxs: Dict[int, int]
-    ) -> BetweenFactorPose3s:
+    def __measurements_from_2view_relative_rotations(
+        self,
+        i2Ri1_dict: Dict[Tuple[int, int], Rot3],
+        num_correspondences_dict: Dict[Tuple[int, int], int],
+    ) -> gtsam.BinaryMeasurementsRot3:
         """Create between factors from relative rotations computed by the 2-view estimator."""
         # TODO: how to weight the noise model on relative rotations compared to priors?
-        noise_model = gtsam.noiseModel.Isotropic.Sigma(POSE3_DOF, self._two_view_rotation_sigma)
 
-        between_factors = BetweenFactorPose3s()
+        # Default noise model if `self._weight_by_inliers` is False, or zero correspondences on edge.
+        noise_model = gtsam.noiseModel.Isotropic.Sigma(ROT3_DOF, self._two_view_rotation_sigma)
 
+        measurements = gtsam.BinaryMeasurementsRot3()
         for (i1, i2), i2Ri1 in i2Ri1_dict.items():
-            if i2Ri1 is not None:
+            if i2Ri1 is None:
+                continue
+            if self._weight_by_inliers and num_correspondences_dict[(i1, i2)] > 0:
                 # ignore translation during rotation averaging
-                i2Ti1 = Pose3(i2Ri1, np.zeros(3))
-                i2_ = old_to_new_idxs[i2]
-                i1_ = old_to_new_idxs[i1]
-                between_factors.append(BetweenFactorPose3(i2_, i1_, i2Ti1, noise_model))
+                noise_model = gtsam.noiseModel.Isotropic.Sigma(ROT3_DOF, 1 / num_correspondences_dict[(i1, i2)])
+
+            measurements.append(gtsam.BinaryMeasurementRot3(i2, i1, i2Ri1, noise_model))
 
-        return between_factors
+        return measurements
 
-    def _between_factors_from_pose_priors(
+    def _measurements_from_pose_priors(
         self, i1Ti2_priors: Dict[Tuple[int, int], PosePrior], old_to_new_idxs: Dict[int, int]
-    ) -> BetweenFactorPose3s:
+    ) -> gtsam.BinaryMeasurementsRot3:
         """Create between factors from the priors on relative poses."""
-        between_factors = BetweenFactorPose3s()
+        measurements = gtsam.BinaryMeasurementsRot3()
 
         def get_isotropic_noise_model_sigma(covariance: np.ndarray) -> float:
             """Get the sigma to be used for the isotropic noise model.
@@ -95,13 +102,13 @@ def get_isotropic_noise_model_sigma(covariance: np.ndarray) -> float:
             i1_ = old_to_new_idxs[i1]
             i2_ = old_to_new_idxs[i2]
             noise_model_sigma = get_isotropic_noise_model_sigma(i1Ti2_prior.covariance)
-            noise_model = gtsam.noiseModel.Isotropic.Sigma(POSE3_DOF, noise_model_sigma)
-            between_factors.append(BetweenFactorPose3(i1_, i2_, i1Ti2_prior.value, noise_model))
+            noise_model = gtsam.noiseModel.Isotropic.Sigma(ROT3_DOF, noise_model_sigma)
+            measurements.append(gtsam.BinaryMeasurementRot3(i1_, i2_, i1Ti2_prior.value.rotation(), noise_model))
 
-        return between_factors
+        return measurements
 
     def _run_with_consecutive_ordering(
-        self, num_connected_nodes: int, between_factors: BetweenFactorPose3s
+        self, num_connected_nodes: int, measurements: gtsam.BinaryMeasurementsRot3
     ) -> List[Optional[Rot3]]:
         """Run the rotation averaging on a connected graph w/ N keys ordered consecutively [0,...,N-1].
 
@@ -112,7 +119,7 @@ def _run_with_consecutive_ordering(
         Args:
             num_connected_nodes: Number of unique connected nodes (i.e. images) in the graph
                 (<= the number of images in the dataset)
-            between_factors: BetweenFactorPose3s created from relative rotations from 2-view estimator and the priors.
+            measurements: BinaryMeasurementsRot3 created from relative rotations from 2-view estimator and the priors.
 
         Returns:
             Global rotations for each **CONNECTED** camera pose, i.e. wRi, as a list. The number of entries in
@@ -122,10 +129,10 @@ def _run_with_consecutive_ordering(
 
         logger.info(
             "Running Shonan with %d constraints on %d nodes",
-            len(between_factors),
+            len(measurements),
             num_connected_nodes,
         )
-        shonan = ShonanAveraging3(between_factors, self.__get_shonan_params())
+        shonan = ShonanAveraging3(measurements, self.__get_shonan_params())
 
         initial = shonan.initializeRandomly()
         logger.info("Initial cost: %.5f", shonan.cost(initial))
@@ -159,6 +166,7 @@ def run_rotation_averaging(
         num_images: int,
         i2Ri1_dict: Dict[Tuple[int, int], Optional[Rot3]],
         i1Ti2_priors: Dict[Tuple[int, int], PosePrior],
+        v_corr_idxs: Dict[Tuple[int, int], np.ndarray],
     ) -> List[Optional[Rot3]]:
         """Run the rotation averaging on a connected graph with arbitrary keys, where each key is a image/pose index.
 
@@ -170,6 +178,7 @@ def run_rotation_averaging(
             num_images: Number of images. Since we have one pose per image, it is also the number of poses.
             i2Ri1_dict: Relative rotations for each image pair-edge as dictionary (i1, i2): i2Ri1.
             i1Ti2_priors: Priors on relative poses.
+            v_corr_idxs: Dict mapping image pair indices (i1, i2) to indices of verified correspondences.
 
         Returns:
             Global rotations for each camera pose, i.e. wRi, as a list. The number of entries in the list is
@@ -183,17 +192,36 @@ def run_rotation_averaging(
             return wRi_list
 
         nodes_with_edges = sorted(list(self._nodes_with_edges(i2Ri1_dict, i1Ti2_priors)))
-        old_to_new_idxes = {old_idx: i for i, old_idx in enumerate(nodes_with_edges)}
-
-        between_factors: BetweenFactorPose3s = self.__between_factors_from_2view_relative_rotations(
-            i2Ri1_dict, old_to_new_idxes
-        )
-        between_factors.extend(self._between_factors_from_pose_priors(i1Ti2_priors, old_to_new_idxes))
-
-        wRi_list_subset = self._run_with_consecutive_ordering(
-            num_connected_nodes=len(nodes_with_edges), between_factors=between_factors
-        )
-
+        old_to_new_idxs = {old_idx: i for i, old_idx in enumerate(nodes_with_edges)}
+
+        i2Ri1_dict_remapped = {
+            (old_to_new_idxs[i1], old_to_new_idxs[i2]): i2Ri1 for (i1, i2), i2Ri1 in i2Ri1_dict.items()
+        }
+        num_correspondences_dict: Dict[Tuple[int, int], int] = {
+            (old_to_new_idxs[i1], old_to_new_idxs[i2]): len(v_corr_idxs[(i1, i2)])
+            for (i1, i2) in v_corr_idxs.keys()
+            if (i1, i2) in i2Ri1_dict
+        }
+
+        def _create_factors_and_run() -> List[Rot3]:
+            measurements: gtsam.BinaryMeasurementsRot3 = self.__measurements_from_2view_relative_rotations(
+                i2Ri1_dict=i2Ri1_dict_remapped, num_correspondences_dict=num_correspondences_dict
+            )
+            measurements.extend(self._measurements_from_pose_priors(i1Ti2_priors, old_to_new_idxs))
+            wRi_list_subset = self._run_with_consecutive_ordering(
+                num_connected_nodes=len(nodes_with_edges), measurements=measurements
+            )
+            return wRi_list_subset
+
+        try:
+            wRi_list_subset = _create_factors_and_run()
+        except RuntimeError:
+            logger.exception("Shonan failed")
+            if self._weight_by_inliers is True:
+                logger.info("Reattempting Shonan without inlier-weighted costs...")
+                # At times, Shonan's `SparseMinimumEigenValue` fails to compute minimum eigenvalue.
+                self._weight_by_inliers = False
+                wRi_list_subset = _create_factors_and_run()
         wRi_list = [None] * num_images
         for remapped_i, original_i in enumerate(nodes_with_edges):
             wRi_list[original_i] = wRi_list_subset[remapped_i]
diff --git a/gtsfm/configs/unified.yaml b/gtsfm/configs/unified.yaml
index 8fef52586..493af70cd 100644
--- a/gtsfm/configs/unified.yaml
+++ b/gtsfm/configs/unified.yaml
@@ -65,15 +65,17 @@ SceneOptimizer:
     # comment out to not run
     view_graph_estimator:
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
-      edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
+      edge_error_aggregation_criterion: MIN_EDGE_ERROR
 
     rot_avg_module:
       _target_: gtsfm.averaging.rotation.shonan.ShonanRotationAveraging
+      weight_by_inliers: True
 
     trans_avg_module:
       _target_: gtsfm.averaging.translation.averaging_1dsfm.TranslationAveraging1DSFM
       robust_measurement_noise: True
       projection_sampling_method: SAMPLE_INPUT_MEASUREMENTS
+      reject_outliers: True
 
     data_association_module:
       _target_: gtsfm.data_association.data_assoc.DataAssociation
diff --git a/gtsfm/frontend/verifier/verifier_base.py b/gtsfm/frontend/verifier/verifier_base.py
index ef670398c..af1a45d2b 100644
--- a/gtsfm/frontend/verifier/verifier_base.py
+++ b/gtsfm/frontend/verifier/verifier_base.py
@@ -33,6 +33,12 @@ def get_ui_metadata() -> UiMetadata:
             parent_plate="Two-View Estimator",
         )
 
+    def __repr__(self) -> str:
+        return (
+            f"{type(self).__name__}"
+            + f"__use_intrinsics{self._use_intrinsics_in_verification}_{self._estimation_threshold_px}px"
+        )
+
     def __init__(
         self,
         use_intrinsics_in_verification: bool,
diff --git a/gtsfm/multi_view_optimizer.py b/gtsfm/multi_view_optimizer.py
index e6c557bac..c5d23e6d2 100644
--- a/gtsfm/multi_view_optimizer.py
+++ b/gtsfm/multi_view_optimizer.py
@@ -21,11 +21,15 @@
 from gtsfm.common.keypoints import Keypoints
 from gtsfm.common.pose_prior import PosePrior
 from gtsfm.common.sfm_track import SfmTrack2d
+from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
+from gtsfm.data_association.cpp_dsf_tracks_estimator import CppDsfTracksEstimator
 from gtsfm.data_association.data_assoc import DataAssociation
 from gtsfm.evaluation.metrics import GtsfmMetricsGroup
+from gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator import (
+    CycleConsistentRotationViewGraphEstimator,
+    EdgeErrorAggregationCriterion,
+)
 from gtsfm.view_graph_estimator.view_graph_estimator_base import ViewGraphEstimatorBase
-from gtsfm.data_association.cpp_dsf_tracks_estimator import CppDsfTracksEstimator
-from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
 
 
 class MultiViewOptimizer:
@@ -44,6 +48,10 @@ def __init__(
         self.ba_optimizer = bundle_adjustment_module
         self._run_view_graph_estimator: bool = self.view_graph_estimator is not None
 
+        self.view_graph_estimator_v2 = CycleConsistentRotationViewGraphEstimator(
+            edge_error_aggregation_criterion=EdgeErrorAggregationCriterion.MEDIAN_EDGE_ERROR
+        )
+
     def __repr__(self) -> str:
         return f"""
         MultiviewOptimizer: 
@@ -63,7 +71,7 @@ def create_computation_graph(
         all_intrinsics: List[Optional[gtsfm_types.CALIBRATION_TYPE]],
         absolute_pose_priors: List[Optional[PosePrior]],
         relative_pose_priors: Dict[Tuple[int, int], PosePrior],
-        two_view_reports_dict: Optional[Dict[Tuple[int, int], TwoViewEstimationReport]],
+        two_view_reports_dict: Dict[Tuple[int, int], TwoViewEstimationReport],
         cameras_gt: List[Optional[gtsfm_types.CAMERA_TYPE]],
         gt_wTi_list: List[Optional[Pose3]],
         output_root: Optional[Path] = None,
@@ -114,6 +122,21 @@ def create_computation_graph(
                 two_view_reports_dict,
                 debug_output_dir,
             )
+            (
+                viewgraph_i2Ri1_graph,
+                viewgraph_i2Ui1_graph,
+                viewgraph_v_corr_idxs_graph,
+                viewgraph_two_view_reports_graph,
+                viewgraph_estimation_metrics,
+            ) = self.view_graph_estimator_v2.create_computation_graph(
+                viewgraph_i2Ri1_graph,
+                viewgraph_i2Ui1_graph,
+                all_intrinsics,
+                viewgraph_v_corr_idxs_graph,
+                keypoints_list,
+                viewgraph_two_view_reports_graph,
+                debug_output_dir / "2",
+            )
         else:
             viewgraph_i2Ri1_graph = dask.delayed(i2Ri1_dict)
             viewgraph_i2Ui1_graph = dask.delayed(i2Ui1_dict)
@@ -126,7 +149,11 @@ def create_computation_graph(
             viewgraph_i2Ri1_graph, viewgraph_i2Ui1_graph, relative_pose_priors
         )
         delayed_wRi, rot_avg_metrics = self.rot_avg_module.create_computation_graph(
-            num_images, pruned_i2Ri1_graph, i1Ti2_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list
+            num_images,
+            pruned_i2Ri1_graph,
+            i1Ti2_priors=relative_pose_priors,
+            gt_wTi_list=gt_wTi_list,
+            v_corr_idxs=viewgraph_v_corr_idxs_graph,
         )
         tracks2d_graph = dask.delayed(get_2d_tracks)(viewgraph_v_corr_idxs_graph, keypoints_list)
 
diff --git a/gtsfm/two_view_estimator_cacher.py b/gtsfm/two_view_estimator_cacher.py
index 3557631bd..a245948eb 100644
--- a/gtsfm/two_view_estimator_cacher.py
+++ b/gtsfm/two_view_estimator_cacher.py
@@ -38,6 +38,7 @@ class TwoViewEstimatorCacher(TwoViewEstimator):
 
     def __init__(self, two_view_estimator_obj: TwoViewEstimator) -> None:
         self._two_view_estimator = two_view_estimator_obj
+        self._verifier_key = self._two_view_estimator._verifier.__repr__()
 
     def __repr__(self) -> str:
         return self._two_view_estimator.__repr__()
@@ -62,7 +63,8 @@ def __generate_cache_key(
         numpy_arrays_to_hash.append(keypoints_i2.coordinates[sampled_idxs[:, 1]].flatten())
 
         # Hash the concatenation of all the numpy arrays.
-        return cache_utils.generate_hash_for_numpy_array(np.concatenate(numpy_arrays_to_hash))
+        input_key = cache_utils.generate_hash_for_numpy_array(np.concatenate(numpy_arrays_to_hash))
+        return f"{self._verifier_key}_{input_key}"
 
     def __load_result_from_cache(
         self, keypoints_i1: Keypoints, keypoints_i2: Keypoints, putative_corr_idxs: np.ndarray
diff --git a/rtf_vis_tool/package-lock.json b/rtf_vis_tool/package-lock.json
index c6183bf76..26ec825ec 100644
--- a/rtf_vis_tool/package-lock.json
+++ b/rtf_vis_tool/package-lock.json
@@ -5808,20 +5808,20 @@
       "dev": true
     },
     "node_modules/body-parser": {
-      "version": "1.20.0",
-      "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.0.tgz",
-      "integrity": "sha512-DfJ+q6EPcGKZD1QWUjSpqp+Q7bDQTsQIF4zfUAtZ6qk+H/3/QRhg9CEp39ss+/T2vw0+HaidC0ecJj/DRLIaKg==",
+      "version": "1.20.2",
+      "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.2.tgz",
+      "integrity": "sha512-ml9pReCu3M61kGlqoTm2umSXTlRTuGTx0bfYj+uIUKKYycG5NtSbeetV3faSU6R7ajOPw0g/J1PvK4qNy7s5bA==",
       "dependencies": {
         "bytes": "3.1.2",
-        "content-type": "~1.0.4",
+        "content-type": "~1.0.5",
         "debug": "2.6.9",
         "depd": "2.0.0",
         "destroy": "1.2.0",
         "http-errors": "2.0.0",
         "iconv-lite": "0.4.24",
         "on-finished": "2.4.1",
-        "qs": "6.10.3",
-        "raw-body": "2.5.1",
+        "qs": "6.11.0",
+        "raw-body": "2.5.2",
         "type-is": "~1.6.18",
         "unpipe": "1.0.0"
       },
@@ -6637,9 +6637,9 @@
       }
     },
     "node_modules/content-type": {
-      "version": "1.0.4",
-      "resolved": "https://registry.npmjs.org/content-type/-/content-type-1.0.4.tgz",
-      "integrity": "sha512-hIP3EEPs8tB9AT1L+NUqtwOAps4mk2Zob89MWXMHjHWg9milF/j4osnnQLXBCBFBk/tvIG/tUc9mOUJiPBhPXA==",
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/content-type/-/content-type-1.0.5.tgz",
+      "integrity": "sha512-nTjqfcBFEipKdXCv4YDQWCfmcLZKm81ldF0pAopTvyrFGVbcR6P/VAAd5G7N+0tTr8QqiU0tFadD6FK4NtJwOA==",
       "engines": {
         "node": ">= 0.6"
       }
@@ -6658,9 +6658,9 @@
       "integrity": "sha512-Gd2UZBJDkXlY7GbJxfsE8/nvKkUEU1G38c1siN6QP6a9PT9MmHB8GnpscSmMJSoF8LOIrt8ud/wPtojys4G6+g=="
     },
     "node_modules/cookie": {
-      "version": "0.5.0",
-      "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.5.0.tgz",
-      "integrity": "sha512-YZ3GUyn/o8gfKJlnlX7g7xq4gyO6OSuhGPKaaGssGB2qgDUS0gPgtTvoyZLTt9Ab6dC4hfc9dV5arkvc/OCmrw==",
+      "version": "0.6.0",
+      "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.6.0.tgz",
+      "integrity": "sha512-U71cyTamuh1CRNCfpGY6to28lxvNwPG4Guz/EVjgf3Jmzv0vlDp1atT9eS5dDjMYHucpHbWns6Lwf3BKz6svdw==",
       "engines": {
         "node": ">= 0.6"
       }
@@ -8782,16 +8782,16 @@
       }
     },
     "node_modules/express": {
-      "version": "4.18.1",
-      "resolved": "https://registry.npmjs.org/express/-/express-4.18.1.tgz",
-      "integrity": "sha512-zZBcOX9TfehHQhtupq57OF8lFZ3UZi08Y97dwFCkD8p9d/d2Y3M+ykKcwaMDEL+4qyUolgBDX6AblpR3fL212Q==",
+      "version": "4.19.2",
+      "resolved": "https://registry.npmjs.org/express/-/express-4.19.2.tgz",
+      "integrity": "sha512-5T6nhjsT+EOMzuck8JjBHARTHfMht0POzlA60WV2pMD3gyXw2LZnZ+ueGdNxG+0calOJcWKbpFcuzLZ91YWq9Q==",
       "dependencies": {
         "accepts": "~1.3.8",
         "array-flatten": "1.1.1",
-        "body-parser": "1.20.0",
+        "body-parser": "1.20.2",
         "content-disposition": "0.5.4",
         "content-type": "~1.0.4",
-        "cookie": "0.5.0",
+        "cookie": "0.6.0",
         "cookie-signature": "1.0.6",
         "debug": "2.6.9",
         "depd": "2.0.0",
@@ -8807,7 +8807,7 @@
         "parseurl": "~1.3.3",
         "path-to-regexp": "0.1.7",
         "proxy-addr": "~2.0.7",
-        "qs": "6.10.3",
+        "qs": "6.11.0",
         "range-parser": "~1.2.1",
         "safe-buffer": "5.2.1",
         "send": "0.18.0",
@@ -9096,9 +9096,9 @@
       "integrity": "sha512-5nqDSxl8nn5BSNxyR3n4I6eDmbolI6WT+QqR547RwxQapgjQBmtktdP+HTBb/a/zLsbzERTONyUB5pefh5TtjQ=="
     },
     "node_modules/follow-redirects": {
-      "version": "1.15.4",
-      "resolved": "https://registry.npmjs.org/follow-redirects/-/follow-redirects-1.15.4.tgz",
-      "integrity": "sha512-Cr4D/5wlrb0z9dgERpUL3LrmPKVDsETIJhaCMeDfuFYcqa5bldGV6wBsAN6X/vxlXQtFBMrXdXxdL8CbDTGniw==",
+      "version": "1.15.6",
+      "resolved": "https://registry.npmjs.org/follow-redirects/-/follow-redirects-1.15.6.tgz",
+      "integrity": "sha512-wWN62YITEaOpSK584EZXJafH1AGpO8RVgElfkuXbTOrPX4fIfOyEpW/CsiNd8JdYrAoOvafRTOEnvsO++qCqFA==",
       "funding": [
         {
           "type": "individual",
@@ -16257,9 +16257,9 @@
       }
     },
     "node_modules/qs": {
-      "version": "6.10.3",
-      "resolved": "https://registry.npmjs.org/qs/-/qs-6.10.3.tgz",
-      "integrity": "sha512-wr7M2E0OFRfIfJZjKGieI8lBKb7fRCH4Fv5KNPEs7gJ8jadvotdsS08PzOKR7opXhZ/Xkjtt3WF9g38drmyRqQ==",
+      "version": "6.11.0",
+      "resolved": "https://registry.npmjs.org/qs/-/qs-6.11.0.tgz",
+      "integrity": "sha512-MvjoMCJwEarSbUYk5O+nmoSzSutSsTwF85zcHPQ9OrlFoZOYIjaqBAJIqIXjptyD5vThxGq52Xu/MaJzRkIk4Q==",
       "dependencies": {
         "side-channel": "^1.0.4"
       },
@@ -16395,9 +16395,9 @@
       }
     },
     "node_modules/raw-body": {
-      "version": "2.5.1",
-      "resolved": "https://registry.npmjs.org/raw-body/-/raw-body-2.5.1.tgz",
-      "integrity": "sha512-qqJBtEyVgS0ZmPGdCFPWJ3FreoqvG4MVQln/kCgF7Olq95IbOp0/BWyMwbdtn4VTvkM8Y7khCQ2Xgk/tcrCXig==",
+      "version": "2.5.2",
+      "resolved": "https://registry.npmjs.org/raw-body/-/raw-body-2.5.2.tgz",
+      "integrity": "sha512-8zGqypfENjCIqGhgXToC8aB2r7YrBX+AQAfIPs/Mlk+BtPTztOvTS01NRW/3Eh60J+a48lt8qsCzirQ6loCVfA==",
       "dependencies": {
         "bytes": "3.1.2",
         "http-errors": "2.0.0",
@@ -19496,9 +19496,9 @@
       }
     },
     "node_modules/webpack-dev-middleware": {
-      "version": "5.3.3",
-      "resolved": "https://registry.npmjs.org/webpack-dev-middleware/-/webpack-dev-middleware-5.3.3.tgz",
-      "integrity": "sha512-hj5CYrY0bZLB+eTO+x/j67Pkrquiy7kWepMHmUMoPsmcUaeEnQJqFzHJOyxgWlq746/wUuA64p9ta34Kyb01pA==",
+      "version": "5.3.4",
+      "resolved": "https://registry.npmjs.org/webpack-dev-middleware/-/webpack-dev-middleware-5.3.4.tgz",
+      "integrity": "sha512-BVdTqhhs+0IfoeAf7EoH5WE+exCmqGerHfDM0IL096Px60Tq2Mn9MAbnaGUe6HiMa41KMCYF19gyzZmBcq/o4Q==",
       "dependencies": {
         "colorette": "^2.0.10",
         "memfs": "^3.4.3",
@@ -24377,20 +24377,20 @@
       "dev": true
     },
     "body-parser": {
-      "version": "1.20.0",
-      "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.0.tgz",
-      "integrity": "sha512-DfJ+q6EPcGKZD1QWUjSpqp+Q7bDQTsQIF4zfUAtZ6qk+H/3/QRhg9CEp39ss+/T2vw0+HaidC0ecJj/DRLIaKg==",
+      "version": "1.20.2",
+      "resolved": "https://registry.npmjs.org/body-parser/-/body-parser-1.20.2.tgz",
+      "integrity": "sha512-ml9pReCu3M61kGlqoTm2umSXTlRTuGTx0bfYj+uIUKKYycG5NtSbeetV3faSU6R7ajOPw0g/J1PvK4qNy7s5bA==",
       "requires": {
         "bytes": "3.1.2",
-        "content-type": "~1.0.4",
+        "content-type": "~1.0.5",
         "debug": "2.6.9",
         "depd": "2.0.0",
         "destroy": "1.2.0",
         "http-errors": "2.0.0",
         "iconv-lite": "0.4.24",
         "on-finished": "2.4.1",
-        "qs": "6.10.3",
-        "raw-body": "2.5.1",
+        "qs": "6.11.0",
+        "raw-body": "2.5.2",
         "type-is": "~1.6.18",
         "unpipe": "1.0.0"
       },
@@ -25037,9 +25037,9 @@
       }
     },
     "content-type": {
-      "version": "1.0.4",
-      "resolved": "https://registry.npmjs.org/content-type/-/content-type-1.0.4.tgz",
-      "integrity": "sha512-hIP3EEPs8tB9AT1L+NUqtwOAps4mk2Zob89MWXMHjHWg9milF/j4osnnQLXBCBFBk/tvIG/tUc9mOUJiPBhPXA=="
+      "version": "1.0.5",
+      "resolved": "https://registry.npmjs.org/content-type/-/content-type-1.0.5.tgz",
+      "integrity": "sha512-nTjqfcBFEipKdXCv4YDQWCfmcLZKm81ldF0pAopTvyrFGVbcR6P/VAAd5G7N+0tTr8QqiU0tFadD6FK4NtJwOA=="
     },
     "convert-source-map": {
       "version": "1.8.0",
@@ -25057,9 +25057,9 @@
       }
     },
     "cookie": {
-      "version": "0.5.0",
-      "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.5.0.tgz",
-      "integrity": "sha512-YZ3GUyn/o8gfKJlnlX7g7xq4gyO6OSuhGPKaaGssGB2qgDUS0gPgtTvoyZLTt9Ab6dC4hfc9dV5arkvc/OCmrw=="
+      "version": "0.6.0",
+      "resolved": "https://registry.npmjs.org/cookie/-/cookie-0.6.0.tgz",
+      "integrity": "sha512-U71cyTamuh1CRNCfpGY6to28lxvNwPG4Guz/EVjgf3Jmzv0vlDp1atT9eS5dDjMYHucpHbWns6Lwf3BKz6svdw=="
     },
     "cookie-signature": {
       "version": "1.0.6",
@@ -26635,16 +26635,16 @@
       }
     },
     "express": {
-      "version": "4.18.1",
-      "resolved": "https://registry.npmjs.org/express/-/express-4.18.1.tgz",
-      "integrity": "sha512-zZBcOX9TfehHQhtupq57OF8lFZ3UZi08Y97dwFCkD8p9d/d2Y3M+ykKcwaMDEL+4qyUolgBDX6AblpR3fL212Q==",
+      "version": "4.19.2",
+      "resolved": "https://registry.npmjs.org/express/-/express-4.19.2.tgz",
+      "integrity": "sha512-5T6nhjsT+EOMzuck8JjBHARTHfMht0POzlA60WV2pMD3gyXw2LZnZ+ueGdNxG+0calOJcWKbpFcuzLZ91YWq9Q==",
       "requires": {
         "accepts": "~1.3.8",
         "array-flatten": "1.1.1",
-        "body-parser": "1.20.0",
+        "body-parser": "1.20.2",
         "content-disposition": "0.5.4",
         "content-type": "~1.0.4",
-        "cookie": "0.5.0",
+        "cookie": "0.6.0",
         "cookie-signature": "1.0.6",
         "debug": "2.6.9",
         "depd": "2.0.0",
@@ -26660,7 +26660,7 @@
         "parseurl": "~1.3.3",
         "path-to-regexp": "0.1.7",
         "proxy-addr": "~2.0.7",
-        "qs": "6.10.3",
+        "qs": "6.11.0",
         "range-parser": "~1.2.1",
         "safe-buffer": "5.2.1",
         "send": "0.18.0",
@@ -26898,9 +26898,9 @@
       "integrity": "sha512-5nqDSxl8nn5BSNxyR3n4I6eDmbolI6WT+QqR547RwxQapgjQBmtktdP+HTBb/a/zLsbzERTONyUB5pefh5TtjQ=="
     },
     "follow-redirects": {
-      "version": "1.15.4",
-      "resolved": "https://registry.npmjs.org/follow-redirects/-/follow-redirects-1.15.4.tgz",
-      "integrity": "sha512-Cr4D/5wlrb0z9dgERpUL3LrmPKVDsETIJhaCMeDfuFYcqa5bldGV6wBsAN6X/vxlXQtFBMrXdXxdL8CbDTGniw=="
+      "version": "1.15.6",
+      "resolved": "https://registry.npmjs.org/follow-redirects/-/follow-redirects-1.15.6.tgz",
+      "integrity": "sha512-wWN62YITEaOpSK584EZXJafH1AGpO8RVgElfkuXbTOrPX4fIfOyEpW/CsiNd8JdYrAoOvafRTOEnvsO++qCqFA=="
     },
     "for-each": {
       "version": "0.3.3",
@@ -32072,9 +32072,9 @@
       "integrity": "sha512-kV/CThkXo6xyFEZUugw/+pIOywXcDbFYgSct5cT3gqlbkBE1SJdwy6UQoZvodiWF/ckQLZyDE/Bu1M6gVu5lVw=="
     },
     "qs": {
-      "version": "6.10.3",
-      "resolved": "https://registry.npmjs.org/qs/-/qs-6.10.3.tgz",
-      "integrity": "sha512-wr7M2E0OFRfIfJZjKGieI8lBKb7fRCH4Fv5KNPEs7gJ8jadvotdsS08PzOKR7opXhZ/Xkjtt3WF9g38drmyRqQ==",
+      "version": "6.11.0",
+      "resolved": "https://registry.npmjs.org/qs/-/qs-6.11.0.tgz",
+      "integrity": "sha512-MvjoMCJwEarSbUYk5O+nmoSzSutSsTwF85zcHPQ9OrlFoZOYIjaqBAJIqIXjptyD5vThxGq52Xu/MaJzRkIk4Q==",
       "requires": {
         "side-channel": "^1.0.4"
       }
@@ -32168,9 +32168,9 @@
       "integrity": "sha512-Hrgsx+orqoygnmhFbKaHE6c296J+HTAQXoxEF6gNupROmmGJRoyzfG3ccAveqCBrwr/2yxQ5BVd/GTl5agOwSg=="
     },
     "raw-body": {
-      "version": "2.5.1",
-      "resolved": "https://registry.npmjs.org/raw-body/-/raw-body-2.5.1.tgz",
-      "integrity": "sha512-qqJBtEyVgS0ZmPGdCFPWJ3FreoqvG4MVQln/kCgF7Olq95IbOp0/BWyMwbdtn4VTvkM8Y7khCQ2Xgk/tcrCXig==",
+      "version": "2.5.2",
+      "resolved": "https://registry.npmjs.org/raw-body/-/raw-body-2.5.2.tgz",
+      "integrity": "sha512-8zGqypfENjCIqGhgXToC8aB2r7YrBX+AQAfIPs/Mlk+BtPTztOvTS01NRW/3Eh60J+a48lt8qsCzirQ6loCVfA==",
       "requires": {
         "bytes": "3.1.2",
         "http-errors": "2.0.0",
@@ -34547,9 +34547,9 @@
       }
     },
     "webpack-dev-middleware": {
-      "version": "5.3.3",
-      "resolved": "https://registry.npmjs.org/webpack-dev-middleware/-/webpack-dev-middleware-5.3.3.tgz",
-      "integrity": "sha512-hj5CYrY0bZLB+eTO+x/j67Pkrquiy7kWepMHmUMoPsmcUaeEnQJqFzHJOyxgWlq746/wUuA64p9ta34Kyb01pA==",
+      "version": "5.3.4",
+      "resolved": "https://registry.npmjs.org/webpack-dev-middleware/-/webpack-dev-middleware-5.3.4.tgz",
+      "integrity": "sha512-BVdTqhhs+0IfoeAf7EoH5WE+exCmqGerHfDM0IL096Px60Tq2Mn9MAbnaGUe6HiMa41KMCYF19gyzZmBcq/o4Q==",
       "requires": {
         "colorette": "^2.0.10",
         "memfs": "^3.4.3",
diff --git a/scripts/benchmark_wildcat.sh b/scripts/benchmark_wildcat.sh
index 12bd5f2ea..0da043052 100755
--- a/scripts/benchmark_wildcat.sh
+++ b/scripts/benchmark_wildcat.sh
@@ -7,218 +7,242 @@ now=$(date +"%Y%m%d_%H%M%S")
 
 
 datasets=(
-        # Tanks and Temples Dataset.
-	barn-tanks-and-temples-410
-	# Olsson Datasets.
-	# See https://www.maths.lth.se/matematiklth/personal/calle/dataset/dataset.html
-	ecole-superieure-de-guerre-35
-	fort-channing-gate-singapore-27
-	skansen-kronan-gothenburg-131
-	nijo-castle-gate-19
-	kings-college-cambridge-328
-	spilled-blood-cathedral-st-petersburg-781
-	palace-fine-arts-281
-	# 1dsfm Datasets
-	gendarmenmarkt-1463
-	# Other.
-	skydio-crane-mast-501
-	# Astrovision Datasets.
-	2011205_rc3
-	# Colmap Datasets.
-	south-building-128
-	gerrard-hall-100
-	)
+    # Tanks and Temples Dataset.
+    barn-tanks-and-temples-410
+    # Olsson Datasets.
+    # See https://www.maths.lth.se/matematiklth/personal/calle/dataset/dataset.html
+    ecole-superieure-de-guerre-35
+    #fort-channing-gate-singapore-27
+    skansen-kronan-gothenburg-131
+    #nijo-castle-gate-19
+    kings-college-cambridge-328
+    spilled-blood-cathedral-st-petersburg-781
+    palace-fine-arts-281
+    # 1dsfm Datasets
+    # gendarmenmarkt-1463
+    # Other.
+    skydio-crane-mast-501
+    # Astrovision Datasets.
+    2011205_rc3
+    # Colmap Datasets.
+    south-building-128
+    gerrard-hall-100
+)
 
 max_frame_lookahead_sizes=(
-	0
-	5
-	10
-	15
-	)
+    # 0
+    # 5
+    10
+    #15
+)
 
 num_matched_sizes=(
-	0
-	5
-	10
-	15
-	20
-	25
-	)
+    # 0
+    5
+    # 10
+    # 15
+    # 20
+    # 25
+)
 
 correspondence_generator_config_names=(
-	sift
-	lightglue
-	superglue
-	loftr
-	)
+    sift
+    lightglue
+    superglue
+    loftr
+    disk
+)
 
 if [[ $CLUSTER_CONFIG ]]
 then
-	CLUSTER_ARGS="--cluster_config $CLUSTER_CONFIG"
+    CLUSTER_ARGS="--cluster_config $CLUSTER_CONFIG"
 else
-	CLUSTER_ARGS=""
+    CLUSTER_ARGS=""
 fi
 
 
 for num_matched in ${num_matched_sizes[@]}; do
-	for max_frame_lookahead in ${max_frame_lookahead_sizes[@]}; do
-		for dataset in ${datasets[@]}; do
-			if [[ $dataset == *"gendarmenmarkt-1463"* && $max_frame_lookahead != 0 ]]
-			then
-				# Gendarmenmarkt images have no natural order.
-				continue
-			fi
-
-			if [[ $num_matched == 0 && $max_frame_lookahead == 0 ]]
-			then
-				# Matches must come from at least some retriever.
-				continue
-			fi
-
-			for correspondence_generator_config_name in ${correspondence_generator_config_names[@]}; do
-				
-				if [[ $correspondence_generator_config_name == *"sift"* ]]
-				then
-					num_workers=10
-				elif [[ $correspondence_generator_config_name == *"lightglue"* ]]
-				then
-					num_workers=1
-				elif [[ $correspondence_generator_config_name == *"superglue"* ]]
-				then
-					num_workers=1
-				elif [[ $correspondence_generator_config_name == *"loftr"* ]]
-				then
-					num_workers=1
-				fi
-
-				echo "Dataset: ${dataset}"
-				echo "Num matched: ${num_matched}"
-				echo "Max frame lookahead: ${max_frame_lookahead}"
-				echo "Correspondence Generator: ${correspondence_generator_config_name}"
-				echo "Num workers: ${num_workers}"
-
-                                if [[ $dataset == *"barn-tanks-and-temples-410"* ]]
-				then
-                                        loader=colmap
-					images_dir=/usr/local/gtsfm-data/Tanks_and_Temples_Barn_410/Barn
-                                        colmap_files_dirpath=/usr/local/gtsfm-data/Tanks_and_Temples_Barn_410/colmap_gt_2023_11_15_2250_highquality
-				elif [[ $dataset == *"palace-fine-arts-281"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/palace-fine-arts-281
-
-				elif [[ $dataset == *"ecole-superieure-de-guerre-35"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/ecole-superieure-de-guerre-35
-
-				elif [[ $dataset == *"fort-channing-gate-singapore-27"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/fort-channing-gate-singapore-27
-
-				elif [[ $dataset == *"skansen-kronan-gothenburg-131"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/skansen-kronan-gothenburg-131
-
-				elif [[ $dataset == *"nijo-castle-gate-19"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/nijo-castle-gate-19
-
-				elif [[ $dataset == *"kings-college-cambridge-328"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/kings-college-cambridge-328
-
-				elif [[ $dataset == *"spilled-blood-cathedral-st-petersburg-781"* ]]
-				then
-					loader=olsson
-					dataset_root=/usr/local/gtsfm-data/spilled-blood-cathedral-st-petersburg-781
-
-				elif [[ $dataset == *"skydio-crane-mast-501"* ]]
-				then
-					loader=colmap
-					images_dir=/usr/local/gtsfm-data/skydio-crane-mast-501/skydio-crane-mast-501-images
-					colmap_files_dirpath=/usr/local/gtsfm-data/skydio-crane-mast-501/skydio-501-colmap-pseudo-gt
-				elif [[ $dataset == *"2011205_rc3"* ]]
-				then
-					loader=astrovision
-					data_dir=/usr/local/gtsfm-data/2011205_rc3
-				elif [[ $dataset == *"south-building-128"* ]]
-				then
-					loader=colmap
-					images_dir=/usr/local/gtsfm-data/south-building-128/images
-					colmap_files_dirpath=/usr/local/gtsfm-data/south-building-128/colmap-2023-07-28-txt
-				elif [[ $dataset == *"gerrard-hall-100"* ]]
-				then
-					loader=colmap
-					images_dir=/usr/local/gtsfm-data/gerrard-hall-100/images
-					colmap_files_dirpath=/usr/local/gtsfm-data/gerrard-hall-100/colmap-3.7-sparse-txt-2023-07-27
-				elif [[ $dataset == *"gendarmenmarkt-1463"* ]]
-				then
-					loader=colmap
-					images_dir=/usr/local/gtsfm-data/Gendarmenmarkt/images
-					colmap_files_dirpath=/usr/local/gtsfm-data/Gendarmenmarkt/gendarmenmark/im_size_full/0
-				fi
-
-				OUTPUT_ROOT=${USER_ROOT}/${now}/${now}__${dataset}__results__num_matched${num_matched}__maxframelookahead${max_frame_lookahead}__760p__unified_${correspondence_generator_config_name}
-				mkdir -p $OUTPUT_ROOT
-
-				if [[ $loader == *"olsson"* ]]
-				then
-					python gtsfm/runner/run_scene_optimizer_olssonloader.py \
-					--mvs_off \
-					--config unified \
-					--correspondence_generator_config_name $correspondence_generator_config_name \
-					--share_intrinsics \
-					--dataset_root $dataset_root \
-					--num_workers $num_workers \
-					--num_matched $num_matched \
-					--max_frame_lookahead $max_frame_lookahead \
-					--worker_memory_limit "32GB" \
-					--output_root $OUTPUT_ROOT \
-					--max_resolution 760 \
-					$CLUSTER_ARGS \
-					2>&1 | tee $OUTPUT_ROOT/out.log
-				elif [[ $loader == *"colmap"* ]]
-				then
-					python gtsfm/runner/run_scene_optimizer_colmaploader.py \
-					--mvs_off \
-					--config unified \
-					--correspondence_generator_config_name $correspondence_generator_config_name \
-					--share_intrinsics \
-					--images_dir $images_dir \
-					--colmap_files_dirpath $colmap_files_dirpath \
-					--num_workers $num_workers \
-					--num_matched $num_matched \
-					--max_frame_lookahead $max_frame_lookahead \
-					--worker_memory_limit "32GB" \
-					--output_root $OUTPUT_ROOT \
-					--max_resolution 760 \
-					$CLUSTER_ARGS \
-					2>&1 | tee $OUTPUT_ROOT/out.log
-				elif [[ $loader == *"astrovision"* ]]
-				then
-					python gtsfm/runner/run_scene_optimizer_astrovision.py \
-					--mvs_off \
-					--config unified \
-					--correspondence_generator_config_name $correspondence_generator_config_name \
-					--share_intrinsics \
-					--data_dir $data_dir \
-					--num_workers $num_workers \
-					--num_matched $num_matched \
-					--max_frame_lookahead $max_frame_lookahead \
-					--worker_memory_limit "32GB" \
-					--output_root $OUTPUT_ROOT \
-					--max_resolution 760 \
-					$CLUSTER_ARGS \
-					2>&1 | tee $OUTPUT_ROOT/out.log
-				fi
-			done
-		done
-	done
+    for max_frame_lookahead in ${max_frame_lookahead_sizes[@]}; do
+        for dataset in ${datasets[@]}; do
+            if [[ $dataset == *"gendarmenmarkt-1463"* && $max_frame_lookahead != 0 ]]
+            then
+            # Gendarmenmarkt images have no natural order.
+                continue
+            fi
+
+            if [[ $dataset == *"gendarmenmarkt-1463"* ]]
+            then
+                INTRINSICS_ARGS=""
+            else
+                INTRINSICS_ARGS="--share_intrinsics"
+            fi
+
+            if [[ $num_matched == 0 && $max_frame_lookahead == 0 ]]
+            then
+                # Matches must come from at least some retriever.
+                continue
+            fi
+
+            for correspondence_generator_config_name in ${correspondence_generator_config_names[@]}; do
+
+                if [[ $correspondence_generator_config_name == *"sift"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"lightglue"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"superglue"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"disk"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"loftr"* ]]
+                then
+                    num_workers=1
+                fi
+
+                echo "Dataset: ${dataset}"
+                echo "Num matched: ${num_matched}"
+                echo "Max frame lookahead: ${max_frame_lookahead}"
+                echo "Correspondence Generator: ${correspondence_generator_config_name}"
+                echo "Num workers: ${num_workers}"
+                echo "Intrinsics: ${INTRINSICS_ARGS}"
+
+                if [[ $dataset == *"barn-tanks-and-temples-410"* ]]
+                then
+                    loader=colmap
+                    images_dir=/usr/local/gtsfm-data/Tanks_and_Temples_Barn_410/Barn
+                    colmap_files_dirpath=/usr/local/gtsfm-data/Tanks_and_Temples_Barn_410/colmap_gt_2023_11_15_2250_highquality
+
+                elif [[ $dataset == *"palace-fine-arts-281"* ]]
+                then
+                    # loader=olsson
+                    # dataset_root=/usr/local/gtsfm-data/palace-fine-arts-281
+                    loader=colmap
+                    colmap_files_dirpath=/usr/local/gtsfm-data/palace_colmap_gt_2023_11_22
+                    images_dir=/usr/local/gtsfm-data/palace-fine-arts-281/images
+
+                elif [[ $dataset == *"ecole-superieure-de-guerre-35"* ]]
+                then
+                    # loader=olsson
+                    # dataset_root=/usr/local/gtsfm-data/ecole-superieure-de-guerre-35
+                    loader=colmap
+                    colmap_files_dirpath=/usr/local/gtsfm-data/ecole_superieure_colmap_gt_2023_11_22/txt_gt
+                    images_dir=/usr/local/gtsfm-data/ecole-superieure-de-guerre-35/images
+
+                elif [[ $dataset == *"fort-channing-gate-singapore-27"* ]]
+                then
+                loader=olsson
+                dataset_root=/usr/local/gtsfm-data/fort-channing-gate-singapore-27
+
+                elif [[ $dataset == *"skansen-kronan-gothenburg-131"* ]]
+                then
+                    # loader=olsson
+                    # dataset_root=/usr/local/gtsfm-data/skansen-kronan-gothenburg-131
+                    loader=colmap
+                    colmap_files_dirpath=/usr/local/gtsfm-data/skansen_colmap_gt_2023_11_22
+                    images_dir=/usr/local/gtsfm-data/skansen-kronan-gothenburg-131/images
+
+                elif [[ $dataset == *"nijo-castle-gate-19"* ]]
+                then
+                    loader=olsson
+                    dataset_root=/usr/local/gtsfm-data/nijo-castle-gate-19
+
+                elif [[ $dataset == *"kings-college-cambridge-328"* ]]
+                then
+                    # loader=olsson
+                    # dataset_root=/usr/local/gtsfm-data/kings-college-cambridge-328
+                    loader=colmap
+                    colmap_files_dirpath=/usr/local/gtsfm-data/kings_college_colmap_gt_2023_11_22
+                    images_dir=/usr/local/gtsfm-data/kings-college-cambridge-328/images
+
+                elif [[ $dataset == *"spilled-blood-cathedral-st-petersburg-781"* ]]
+                then
+                    # loader=olsson
+                    # dataset_root=/usr/local/gtsfm-data/spilled-blood-cathedral-st-petersburg-781
+                    loader=colmap
+                    colmap_files_dirpath=/usr/local/gtsfm-data/colmap-spilled-blood-gt
+                    images_dir=/usr/local/gtsfm-data/spilled-blood-cathedral-st-petersburg-781/images
+
+                elif [[ $dataset == *"skydio-crane-mast-501"* ]]
+                then
+                    loader=colmap
+                    images_dir=/usr/local/gtsfm-data/skydio-crane-mast-501/skydio-crane-mast-501-images
+                    colmap_files_dirpath=/usr/local/gtsfm-data/skydio-crane-mast-501/skydio-501-colmap-pseudo-gt
+                elif [[ $dataset == *"2011205_rc3"* ]]
+                then
+                    loader=astrovision
+                    data_dir=/usr/local/gtsfm-data/2011205_rc3
+                elif [[ $dataset == *"south-building-128"* ]]
+                then
+                    loader=colmap
+                    images_dir=/usr/local/gtsfm-data/south-building-128/images
+                    colmap_files_dirpath=/usr/local/gtsfm-data/south-building-128/colmap-2023-07-28-txt
+                elif [[ $dataset == *"gerrard-hall-100"* ]]
+                then
+                    loader=colmap
+                    images_dir=/usr/local/gtsfm-data/gerrard-hall-100/images
+                    colmap_files_dirpath=/usr/local/gtsfm-data/gerrard-hall-100/colmap-3.7-sparse-txt-2023-07-27
+                elif [[ $dataset == *"gendarmenmarkt-1463"* ]]
+                then
+                    loader=colmap
+                    images_dir=/usr/local/gtsfm-data/Gendarmenmarkt/images
+                    colmap_files_dirpath=/usr/local/gtsfm-data/Gendarmenmarkt/gendarmenmark/im_size_full/0
+                fi
+
+                OUTPUT_ROOT=${USER_ROOT}/${now}/${now}__${dataset}__results__num_matched${num_matched}__maxframelookahead${max_frame_lookahead}__760p__unified_${correspondence_generator_config_name}
+                mkdir -p $OUTPUT_ROOT
+
+                if [[ $loader == *"olsson"* ]]
+                then
+                    python gtsfm/runner/run_scene_optimizer_olssonloader.py \
+                    --mvs_off \
+                    --config unified \
+                    --correspondence_generator_config_name $correspondence_generator_config_name \
+                    --dataset_root $dataset_root \
+                    --num_workers $num_workers \
+                    --num_matched $num_matched \
+                    --max_frame_lookahead $max_frame_lookahead \
+                    --worker_memory_limit "32GB" \
+                    --output_root $OUTPUT_ROOT \
+                    --max_resolution 760 \
+                    $INTRINSICS_ARGS $CLUSTER_ARGS \
+                    2>&1 | tee $OUTPUT_ROOT/out.log
+                elif [[ $loader == *"colmap"* ]]
+                then
+                    python gtsfm/runner/run_scene_optimizer_colmaploader.py \
+                    --mvs_off \
+                    --config unified \
+                    --correspondence_generator_config_name $correspondence_generator_config_name \
+                    --images_dir $images_dir \
+                    --colmap_files_dirpath $colmap_files_dirpath \
+                    --num_workers $num_workers \
+                    --num_matched $num_matched \
+                    --max_frame_lookahead $max_frame_lookahead \
+                    --worker_memory_limit "32GB" \
+                    --output_root $OUTPUT_ROOT \
+                    --max_resolution 760 \
+                    $INTRINSICS_ARGS $CLUSTER_ARGS \
+                    2>&1 | tee $OUTPUT_ROOT/out.log
+                elif [[ $loader == *"astrovision"* ]]
+                then
+                    python gtsfm/runner/run_scene_optimizer_astrovision.py \
+                    --mvs_off \
+                    --config unified \
+                    --correspondence_generator_config_name $correspondence_generator_config_name \
+                    --data_dir $data_dir \
+                    --num_workers $num_workers \
+                    --num_matched $num_matched \
+                    --max_frame_lookahead $max_frame_lookahead \
+                    --worker_memory_limit "32GB" \
+                    --output_root $OUTPUT_ROOT \
+                    --max_resolution 760 \
+                    $INTRINSICS_ARGS $CLUSTER_ARGS \
+                    2>&1 | tee $OUTPUT_ROOT/out.log
+                fi
+            done
+        done
+    done
 done
 
-
diff --git a/scripts/eth3d_benchmark.sh b/scripts/eth3d_benchmark.sh
index e6c6f9afe..32ba6543c 100755
--- a/scripts/eth3d_benchmark.sh
+++ b/scripts/eth3d_benchmark.sh
@@ -6,112 +6,118 @@ CLUSTER_CONFIG=$2
 
 now=$(date +"%Y%m%d_%H%M%S")
 
-ETH3D_ROOT=/home/tdriver6/Downloads/eth3d_datasets
+ETH3D_ROOT=/usr/local/gtsfm-data/eth3d_datasets/multi_view_training_dslr_undistorted
+#ETH3D_ROOT=/home/tdriver6/Downloads/eth3d_datasets
 
 # Includes all "high-resolution multi-view" datasets from 'training' split (i.e. w/ public GT data)
 # See https://www.eth3d.net/datasets for more information.
 datasets=(
-	courtyard
-	delivery_area
-	electro
-	facade
-	kicker
-	meadow
-	office
-	pipes
-	playground
-	relief_2
-	relief
-	terrace
-	terrains
-	)
+    courtyard
+    delivery_area
+    electro
+    facade
+    kicker
+    meadow
+    office
+    pipes
+    playground
+    relief_2
+    relief
+    terrace
+    terrains
+)
 
 max_frame_lookahead_sizes=(
-	#0
-	#5
-	10
-	#15
-	)
+    #0
+    #5
+    10
+    #15
+)
 
 num_matched_sizes=(
-	5
-	#10
-	#15
-	#20
-	#25
-	)
+    5
+    #10
+    #15
+    #20
+    #25
+)
 
 correspondence_generator_config_names=(
-	sift
-	#disk
-	#lightglue
-	#superglue
-	#loftr
-	)
+    sift
+    disk
+    lightglue
+    superglue
+    loftr
+)
 
 if [[ $CLUSTER_CONFIG ]]
 then
-	CLUSTER_ARGS="--cluster_config $CLUSTER_CONFIG"
+    CLUSTER_ARGS="--cluster_config $CLUSTER_CONFIG"
 else
-	CLUSTER_ARGS=""
+    CLUSTER_ARGS=""
 fi
 
 
 for num_matched in ${num_matched_sizes[@]}; do
-	for max_frame_lookahead in ${max_frame_lookahead_sizes[@]}; do
-		for dataset in ${datasets[@]}; do
-			if [[ $num_matched == 0 && $max_frame_lookahead == 0 ]]
-			then
-				# Matches must come from at least some retriever.
-				continue
-			fi
-
-			for correspondence_generator_config_name in ${correspondence_generator_config_names[@]}; do
-				
-				if [[ $correspondence_generator_config_name == *"sift"* ]]
-				then
-					num_workers=1
-				elif [[ $correspondence_generator_config_name == *"lightglue"* ]]
-				then
-					num_workers=1
-				elif [[ $correspondence_generator_config_name == *"superglue"* ]]
-				then
-					num_workers=1
-				elif [[ $correspondence_generator_config_name == *"loftr"* ]]
-				then
-					num_workers=1
-				fi
-
-				echo "Dataset: ${dataset}"
-				echo "Num matched: ${num_matched}"
-				echo "Max frame lookahead: ${max_frame_lookahead}"
-				echo "Correspondence Generator: ${correspondence_generator_config_name}"
-				echo "Num workers: ${num_workers}"
-
-				images_dir="${ETH3D_ROOT}/${dataset}_dslr_undistorted/${dataset}/images"
-                colmap_files_dirpath="${ETH3D_ROOT}/${dataset}_dslr_undistorted/${dataset}/dslr_calibration_undistorted"
-
-				OUTPUT_ROOT=${USER_ROOT}/${now}/${now}__${dataset}__results__num_matched${num_matched}__maxframelookahead${max_frame_lookahead}__760p__unified_${correspondence_generator_config_name}
-				mkdir -p $OUTPUT_ROOT
-
-				python gtsfm/runner/run_scene_optimizer_colmaploader.py \
-				--mvs_off \
-				--config unified \
-				--correspondence_generator_config_name $correspondence_generator_config_name \
-				--share_intrinsics \
-				--images_dir $images_dir \
-				--colmap_files_dirpath $colmap_files_dirpath \
-				--num_workers 1 \
-				--num_matched $num_matched \
-				--max_frame_lookahead $max_frame_lookahead \
-				--worker_memory_limit "32GB" \
-				--output_root $OUTPUT_ROOT \
-				--max_resolution 760 \
-				$CLUSTER_ARGS \
-				2>&1 | tee $OUTPUT_ROOT/out.log
-			done
-		done
-	done
+    for max_frame_lookahead in ${max_frame_lookahead_sizes[@]}; do
+        for dataset in ${datasets[@]}; do
+            if [[ $num_matched == 0 && $max_frame_lookahead == 0 ]]
+            then
+                # Matches must come from at least some retriever.
+                continue
+            fi
+
+            for correspondence_generator_config_name in ${correspondence_generator_config_names[@]}; do
+
+                if [[ $correspondence_generator_config_name == *"sift"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"lightglue"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"superglue"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"loftr"* ]]
+                then
+                    num_workers=1
+                elif [[ $correspondence_generator_config_name == *"disk"* ]]
+                then
+                    num_workers=1
+                fi
+
+                echo "Dataset: ${dataset}"
+                echo "Num matched: ${num_matched}"
+                echo "Max frame lookahead: ${max_frame_lookahead}"
+                echo "Correspondence Generator: ${correspondence_generator_config_name}"
+                echo "Num workers: ${num_workers}"
+
+                images_dir="${ETH3D_ROOT}/${dataset}/images"
+                colmap_files_dirpath="${ETH3D_ROOT}/${dataset}/dslr_calibration_undistorted"
+                # images_dir="${ETH3D_ROOT}/${dataset}_dslr_undistorted/${dataset}/images"
+                # colmap_files_dirpath="${ETH3D_ROOT}/${dataset}_dslr_undistorted/${dataset}/dslr_calibration_undistorted"
+
+                OUTPUT_ROOT=${USER_ROOT}/${now}/${now}__${dataset}__results__num_matched${num_matched}__maxframelookahead${max_frame_lookahead}__760p__unified_${correspondence_generator_config_name}
+                mkdir -p $OUTPUT_ROOT
+
+                python gtsfm/runner/run_scene_optimizer_colmaploader.py \
+                --mvs_off \
+                --config unified \
+                --correspondence_generator_config_name $correspondence_generator_config_name \
+                --share_intrinsics \
+                --images_dir $images_dir \
+                --colmap_files_dirpath $colmap_files_dirpath \
+                --num_workers 1 \
+                --num_matched $num_matched \
+                --max_frame_lookahead $max_frame_lookahead \
+                --worker_memory_limit "32GB" \
+                --output_root $OUTPUT_ROOT \
+                --max_resolution 760 \
+                $CLUSTER_ARGS \
+                2>&1 | tee $OUTPUT_ROOT/out.log
+            done
+        done
+    done
 done
 
 
diff --git a/tests/averaging/rotation/test_shonan.py b/tests/averaging/rotation/test_shonan.py
index b0aef22a4..20f40be64 100644
--- a/tests/averaging/rotation/test_shonan.py
+++ b/tests/averaging/rotation/test_shonan.py
@@ -38,7 +38,8 @@ def __execute_test(self, i2Ri1_input: Dict[Tuple[int, int], Rot3], wRi_expected:
             wRi_expected: expected global rotations.
         """
         i1Ti2_priors: Dict[Tuple[int, int], PosePrior] = {}
-        wRi_computed = self.obj.run_rotation_averaging(len(wRi_expected), i2Ri1_input, i1Ti2_priors)
+        v_corr_idxs = _create_dummy_correspondences(i2Ri1_input)
+        wRi_computed = self.obj.run_rotation_averaging(len(wRi_expected), i2Ri1_input, i1Ti2_priors, v_corr_idxs)
         self.assertTrue(
             geometry_comparisons.compare_rotations(wRi_computed, wRi_expected, ROTATION_ANGLE_ERROR_THRESHOLD_DEG)
         )
@@ -103,8 +104,8 @@ def test_simple_with_prior(self):
                 type=PosePriorType.SOFT_CONSTRAINT,
             )
         }
-
-        wRi_computed = self.obj.run_rotation_averaging(len(expected_wRi_list), i2Ri1_dict, i1Ti2_priors)
+        v_corr_idxs = _create_dummy_correspondences(i2Ri1_dict)
+        wRi_computed = self.obj.run_rotation_averaging(len(expected_wRi_list), i2Ri1_dict, i1Ti2_priors, v_corr_idxs)
         self.assertTrue(
             geometry_comparisons.compare_rotations(wRi_computed, expected_wRi_list, ROTATION_ANGLE_ERROR_THRESHOLD_DEG)
         )
@@ -121,13 +122,16 @@ def test_computation_graph(self):
 
         i2Ri1_graph = dask.delayed(i2Ri1_dict)
 
-        # use the GTSAM API directly (without dask) for rotation averaging
+        # Use the GTSAM API directly (without dask) for rotation averaging
         i1Ti2_priors: Dict[Tuple[int, int], PosePrior] = {}
-        expected_wRi_list = self.obj.run_rotation_averaging(num_poses, i2Ri1_dict, i1Ti2_priors)
+        v_corr_idxs = _create_dummy_correspondences(i2Ri1_dict)
+        expected_wRi_list = self.obj.run_rotation_averaging(num_poses, i2Ri1_dict, i1Ti2_priors, v_corr_idxs)
 
-        # use dask's computation graph
+        # Use dask's computation graph
         gt_wTi_list = [None] * len(expected_wRi_list)
-        rotations_graph, _ = self.obj.create_computation_graph(num_poses, i2Ri1_graph, i1Ti2_priors, gt_wTi_list)
+        rotations_graph, _ = self.obj.create_computation_graph(
+            num_poses, i2Ri1_graph, i1Ti2_priors, v_corr_idxs=v_corr_idxs, gt_wTi_list=gt_wTi_list
+        )
 
         with dask.config.set(scheduler="single-threaded"):
             wRi_list = dask.compute(rotations_graph)[0]
@@ -168,12 +172,23 @@ def test_nonconsecutive_indices(self):
         }
 
         relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {}
-        wRi_computed = self.obj.run_rotation_averaging(num_images, i2Ri1_input, relative_pose_priors)
+        v_corr_idxs = _create_dummy_correspondences(i2Ri1_input)
+        wRi_computed = self.obj.run_rotation_averaging(num_images, i2Ri1_input, relative_pose_priors, v_corr_idxs)
         wRi_expected = [None, wTi1.rotation(), wTi2.rotation(), wTi3.rotation()]
         self.assertTrue(
             geometry_comparisons.compare_rotations(wRi_computed, wRi_expected, angular_error_threshold_degrees=0.1)
         )
 
 
+def _create_dummy_correspondences(i2Ri1_dict: Dict[Tuple[int, int], Rot3]) -> Dict[Tuple[int, int], np.ndarray]:
+    """Create dummy verified correspondences for each edge in view graph."""
+    # Assume image has shape (img_h, img_w) = (1000,1000)
+    img_h = 1000
+    v_corr_idxs_dict = {
+        (i1, i2): np.random.randint(low=0, high=img_h, size=(i1 + i2, 2)) for i1, i2 in i2Ri1_dict.keys()
+    }
+    return v_corr_idxs_dict
+
+
 if __name__ == "__main__":
     unittest.main()
diff --git a/tests/test_two_view_estimator_cacher.py b/tests/test_two_view_estimator_cacher.py
index c95be44c0..386b0310f 100644
--- a/tests/test_two_view_estimator_cacher.py
+++ b/tests/test_two_view_estimator_cacher.py
@@ -45,6 +45,12 @@ def test_cache_miss(
         # Mock the underlying two-view estimator which is used on cache miss.
         underlying_estimator_mock = MagicMock()
         underlying_estimator_mock.run_2view.return_value = self.dummy_output
+        verifier_key = "Ransac__use_intrinsicsTrue_4px"
+
+        def new_repr(self) -> str:
+            return verifier_key
+
+        underlying_estimator_mock._verifier.__repr__ = new_repr
 
         cacher = TwoViewEstimatorCacher(two_view_estimator_obj=underlying_estimator_mock)
 
@@ -69,11 +75,10 @@ def test_cache_miss(
         generate_hash_for_numpy_array_mock.assert_called()
 
         # Assert that read function was called once and write function was called once.
-        cache_path = ROOT_PATH / "cache" / "two_view_estimator" / "numpy_key.pbz2"
+        cache_path = ROOT_PATH / "cache" / "two_view_estimator" / f"{verifier_key}_numpy_key.pbz2"
         read_mock.assert_called_once_with(cache_path)
         write_mock.assert_called_once()
 
-
     @patch("gtsfm.utils.cache.generate_hash_for_numpy_array", return_value="numpy_key")
     @patch("gtsfm.utils.io.read_from_bz2_file", return_value=_DUMMY_OUTPUT)
     @patch("gtsfm.utils.io.write_to_bz2_file")
@@ -89,7 +94,12 @@ def test_cache_hit(
         # Mock the underlying two-view estimator which is used on cache miss.
         underlying_estimator_mock = MagicMock()
         underlying_estimator_mock.run_2view.return_value = self.dummy_output
+        verifier_key = "Ransac__use_intrinsicsTrue_4px"
+
+        def new_repr(self) -> str:
+            return verifier_key
 
+        underlying_estimator_mock._verifier.__repr__ = new_repr
         cacher = TwoViewEstimatorCacher(two_view_estimator_obj=underlying_estimator_mock)
 
         result = cacher.run_2view(
@@ -114,7 +124,7 @@ def test_cache_hit(
         generate_hash_for_numpy_array_mock.assert_called()
 
         # Assert that the read function was called once.
-        cache_path = ROOT_PATH / "cache" / "two_view_estimator" / "numpy_key.pbz2"
+        cache_path = ROOT_PATH / "cache" / "two_view_estimator" / f"{verifier_key}_numpy_key.pbz2"
         read_mock.assert_called_once_with(cache_path)
 
         # Assert that the write function was not called (as cache is mocked to already exist).