Add Global Positioner module

environment_linux.yml

@@ -56,7 +56,7 @@ dependencies:
       - pydegensac
       - colour
       - trimesh[easy]
-      - gtsam-develop==4.3a1.dev202603090403
+      - gtsam-develop==4.3a1.dev202604240153
       - pydot
       # dust3r/mast3r
       - roma

environment_linux_cpuonly.yml

@@ -56,7 +56,7 @@ dependencies:
       - pydegensac
       - colour
       - trimesh[easy]
-      - gtsam-develop==4.3a1.dev202603090403
+      - gtsam-develop==4.3a1.dev202604240153
       - pydot
       - roma
       - tqdm

environment_mac.yml

@@ -57,7 +57,7 @@ dependencies:
       - pydegensac
       - colour
       - trimesh[easy]
-      - gtsam-develop==4.3a1.dev202603090403
+      - gtsam-develop==4.3a1.dev202604240153
       - pydot
       # dust3r/mast3r
       - roma

gtsfm/averaging/translation/averaging_1dsfm.py

@@ -45,6 +45,7 @@
 from gtsfm.evaluation.metrics import GtsfmMetric, GtsfmMetricsGroup
 from gtsfm.products.visibility_graph import AnnotatedGraph, ImageIndexPair, ImageIndexPairs
 from gtsfm.utils import align, transform
+from gtsfm.utils.tracks import compute_world_directions
 
 # Hyperparameters for 1D-SFM
 # maximum number of times 1dsfm will project the Unit3's to a 1d subspace for outlier rejection
@@ -416,25 +417,9 @@ def _get_landmark_directions(
         Returns:
             Dictionary of unit directions from camera to track in world frame indexed by (track_id, camera_id).
         """
-        landmark_directions = {}
-        for track_id, track in enumerate(tracks_2d):
-            for j in range(track.number_measurements()):
-                measurement = track.measurement(j)
-                cam_idx = measurement.i
-
-                # TODO(akshay-krishnan): consider changing input type and checking elsewhere
-                intrinsics_i = intrinsics[cam_idx]
-                wRi = wRi_list[cam_idx]
-                assert wRi is not None, "Camera must have valid rotation to use tracks for averaging."
-                assert intrinsics_i is not None, "Camera must be calibrated to use tracks for averaging."
-
-                measurement_xy = intrinsics_i.calibrate(measurement.uv)
-                measurement_homogeneous = Point3(measurement_xy[0], measurement_xy[1], 1.0)
-                w_cam_U_track = Unit3(wRi.rotate(Unit3(measurement_homogeneous).point3()))
-
-                # Direction starts at camera, but first index is track_id.
-                landmark_directions[(track_id, cam_idx)] = w_cam_U_track
-        return landmark_directions
+        observations = compute_world_directions(tracks_2d, intrinsics, wRi_list)
+        return {(track_id, cam_idx): Unit3(Point3(*direction))
+                for track_id, cam_idx, direction in observations}
 
     def __run_averaging(
         self,

gtsfm/configs/sift_global_positioner.yaml

@@ -0,0 +1,128 @@
+# MegaLoc + SIFT + Global Positioner with Single partition.
+# Based on unified_megaloc.yaml with SIFT detector/matcher swap + GP.
+
+# @package _global_
+_target_: gtsfm.scene_optimizer.SceneOptimizer
+
+loader:
+  _target_: gtsfm.loader.Olsson
+
+image_pairs_generator:
+  _target_: gtsfm.retriever.image_pairs_generator.ImagePairsGenerator
+  global_descriptor:
+    _target_: gtsfm.frontend.cacher.global_descriptor_cacher.GlobalDescriptorCacher
+    global_descriptor_obj:
+      _target_: gtsfm.frontend.global_descriptor.MegaLoc
+  retriever:
+    _target_: gtsfm.retriever.Similarity
+    num_matched: 100
+    min_score: 0.15
+    use_diffusion_preprocessing: false
+    use_mst_augmentation: false
+  batch_size: 16
+
+graph_partitioner:
+  _target_: gtsfm.graph_partitioner.Single
+
+cluster_optimizer:
+  _target_: gtsfm.cluster_optimizer.Multiview
+
+  correspondence_generator:
+    _target_: gtsfm.frontend.correspondence_generator.det_desc_correspondence_generator.DetDescCorrespondenceGenerator
+
+    detector_descriptor:
+      _target_: gtsfm.frontend.cacher.detector_descriptor_cacher.DetectorDescriptorCacher
+      detector_descriptor_obj:
+        _target_: gtsfm.frontend.detector_descriptor.colmap_sift.ColmapSIFTDetectorDescriptor
+        max_keypoints: 8192
+
+    matcher:
+      _target_: gtsfm.frontend.cacher.matcher_cacher.MatcherCacher
+      matcher_obj:
+        _target_: gtsfm.frontend.matcher.twoway_matcher.TwoWayMatcher
+        ratio_test_threshold: 0.8
+
+  two_view_estimator:
+    _target_: gtsfm.two_view_estimator_cacher.TwoViewEstimatorCacher
+    two_view_estimator_obj:
+      _target_: gtsfm.two_view_estimator.TwoViewEstimator
+      bundle_adjust_2view: True
+      eval_threshold_px: 4
+      ba_reproj_error_thresholds: [0.5]
+      bundle_adjust_2view_maxiters: 100
+
+      verifier:
+        _target_: gtsfm.frontend.verifier.poselib_verifier.PoseLibVerifier
+        estimation_threshold_px: 2
+
+      triangulation_options:
+        _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
+        mode:
+          _target_: gtsfm.data_association.point3d_initializer.TriangulationSamplingMode
+          value: NO_RANSAC
+
+      inlier_support_processor:
+        _target_: gtsfm.two_view_estimator.InlierSupportProcessor
+        min_num_inliers_est_model: 30
+        min_inlier_ratio_est_model: 0.15
+  save_gtsfm_data: True
+  save_3d_viz: False
+  save_two_view_viz: False
+  pose_angular_error_thresh: 5
+  multiview_optimizer:
+    _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
+
+    view_graph_estimator:
+      _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
+      edge_error_aggregation_criterion: MIN_EDGE_ERROR
+      error_threshold: 7.0
+
+    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: False
+      use_all_tracks_for_averaging: True
+      use_relative_camera_poses: True
+
+    data_association_module:
+      _target_: gtsfm.data_association.data_assoc.DataAssociation
+      min_track_len: 3
+      triangulation_options:
+        _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
+        reproj_error_threshold: 10
+        mode:
+          _target_: gtsfm.data_association.point3d_initializer.TriangulationSamplingMode
+          value: RANSAC_SAMPLE_UNIFORM
+        max_num_hypotheses: 100
+      save_track_patches_viz: False
+
+    global_positioner:
+      _target_: gtsfm.global_positioner.global_positioner.GlobalPositioner
+      noise_sigma: 0.01
+      huber_loss_scale: 0.1
+      max_iterations: 50
+      min_track_measurements: 3
+      max_reproj_error: 10.0
+      save_iteration_visualization: True
+
+    run_view_graph_calibration: true
+    rotation_outlier_threshold_deg: 0
+
+    bundle_adjustment_module:
+      _target_: gtsfm.bundle.bundle_adjustment.BundleAdjustmentOptimizer
+      reproj_error_thresholds: [10, 5, 3]
+      robust_ba_mode: "HUBER"
+      shared_calib: False
+      cam_pose3_prior_noise_sigma: 0.1
+      calibration_prior_focal_sigma: 200.0
+      measurement_noise_sigma: 1.0
+      use_calibration_prior: true
+
+  dense_multiview_optimizer: null
+  gaussian_splatting_optimizer: null
+

gtsfm/global_positioner/__init__.py

@@ -0,0 +1 @@
+"""Global positioner module — joint camera + point estimation using bearing constraints."""