From 93a56829592dc4ad01b78e473c3d3baff6a52a5b Mon Sep 17 00:00:00 2001 From: Travis Driver Date: Wed, 16 Oct 2024 18:25:19 -0400 Subject: [PATCH] Forgot to enable essential matrix optimization --- .../cycle_consistent_rotation_estimator.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py b/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py index 16ab5a597..2a00d7bd2 100644 --- a/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py +++ b/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py @@ -110,10 +110,10 @@ def run( triplets: List[Tuple[int, int, int]] = graph_utils.extract_cyclic_triplets_from_edges(input_edges) logger.info("Number of triplets: %d" % len(triplets)) - # # Optimize essential matrices. - # i2Ri1_dict, i2Ui1_dict = self.optimize_essential_matrices( - # triplets, i2Ri1_dict, i2Ui1_dict, calibrations, corr_idxs_i1i2, keypoints - # ) + # Optimize essential matrices. + i2Ri1_dict, i2Ui1_dict = self.optimize_essential_matrices( + triplets, i2Ri1_dict, i2Ui1_dict, calibrations, corr_idxs_i1i2, keypoints + ) # Compute the cycle error for each triplet, and add it to its edges for aggregation. per_edge_errors = defaultdict(list)