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Faster pose estimation, support for PoseLib and LightGlue #62

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Faster pose estimation, support for PoseLib and LightGlue #62

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@sarlinpe sarlinpe commented Mar 3, 2024 •
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  • x100 faster pose estimation by optimizing recover_matches_2d3d
  • feature matching with LightGlue
  • Absolute pose estimation for single-image and rig with PoseLib - slightly better than pycolmap
LIN
  query_phone
    pycolmap: 57.1 / 71.5
    poselib:  60.0 / 72.0
  query_hololens
    pycolmap: 69.2 / 83.4
    poselib:  70.5 / 82.7
HGE
  query_phone
    pycolmap: 45.5 / 60.8
    poselib:  46.7 / 60.6
  query_hololens
    pycolmap: 56.6 / 69.4
    poselib:  57.4 / 69.5

cc @vlarsson

pablospe
pablospe reviewed Mar 4, 2024
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lamar/utils/localization.py

import pycolmap
try:
import poselib
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@pablospe pablospe Mar 4, 2024

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Maybe adding the installation instructions in README, perhaps also updating the pyproject and Dockerfile. Same for LightGlue.

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@mihaidusmanu mihaidusmanu Mar 25, 2025

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I think LightGlue comes with hloc 1.4 already (?)

@sarlinpe sarlinpe mentioned this pull request Mar 24, 2025
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sarlinpe commented Mar 24, 2025

Poke @mihaidusmanu

mihaidusmanu
mihaidusmanu reviewed Mar 25, 2025
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lamar/utils/localization.py
# avoid duplicate observations
if p3d_id != -1 and p3d_id in p2d_to_p3d[i]:
for match_idx, ((i, j), p3d_id) in enumerate(zip(matches, p3d_ids)):
if p3d_id != -1 and (i, p3d_id) in p2d_to_p3d:
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@mihaidusmanu mihaidusmanu Mar 25, 2025

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nit, I guess this is guaranteed to be != -1? So would maybe assert it?

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@mihaidusmanu mihaidusmanu Mar 25, 2025

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(and maybe the check should be against invalid_point3d_id?)

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@mihaidusmanu mihaidusmanu mihaidusmanu approved these changes

@omiksik omiksik Awaiting requested review from omiksik omiksik is a code owner

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@pablospe pablospe pablospe approved these changes

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@sarlinpe @pablospe @mihaidusmanu