Add Essential Matrix Optimization #2523
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| name: Benchmark GTSFM on select datasets using SIFT and Deep front-ends | |
| on: [pull_request, workflow_dispatch] | |
| jobs: | |
| benchmark: | |
| name: Benchmark | |
| runs-on: ubuntu-latest | |
| strategy: | |
| # Prevents other configs from being canceled if one of them fails. | |
| fail-fast: false | |
| matrix: | |
| config_dataset_info: | |
| [ | |
| # config dataset lookahead img-extension source loader max-res share-intrinsics | |
| [sift, door-12, 15, JPG, test_data, olsson-loader, 1296, true], | |
| [lightglue, door-12, 15, JPG, test_data, olsson-loader, 1296, true], | |
| [sift, skydio-8, 15, jpg, wget , colmap-loader, 760, true], | |
| [lightglue, skydio-8, 15, jpg, wget, colmap-loader, 760, true], | |
| [sift, skydio-32, 15, jpg, wget, colmap-loader, 760, true], | |
| [lightglue, skydio-32, 15, jpg, wget, colmap-loader, 760, true], | |
| [sift, palace-fine-arts-281, 15, jpg, wget, olsson-loader, 320, true], | |
| [lightglue, notre-dame-20, 15, jpg, wget, colmap-loader, 760, false], | |
| [sift, 2011205_rc3, 15, png, wget, astrovision, 1024, true], | |
| [lightglue, 2011205_rc3, 15, png, wget, astrovision, 1024, true], | |
| [sift, gerrard-hall-100, 15, jpg, wget, colmap-loader, 760, true], | |
| [lightglue, gerrard-hall-100, 15, jpg, wget, colmap-loader, 760, true], | |
| [sift, south-building-128, 15, jpg, wget, colmap-loader, 760, true], | |
| [lightglue, south-building-128, 15, jpg, wget, colmap-loader, 760, true], | |
| ] | |
| defaults: | |
| run: | |
| shell: bash -l {0} | |
| env: | |
| PYTHON_VERSION: 3.8 | |
| steps: | |
| - uses: actions/[email protected] | |
| - name: Cache frontend | |
| uses: actions/cache@v4 | |
| env: | |
| # Increase this value to reset cache | |
| CACHE_NUMBER_FRONTEND: 0 | |
| with: | |
| path: cache | |
| key: ${{ matrix.config_dataset_info[0] }}-${{ matrix.config_dataset_info[1] }}-${{ matrix.config_dataset_info[2] }}-${{ matrix.config_dataset_info[6] }}-${{ env.CACHE_NUMBER_FRONTEND }} | |
| - uses: mamba-org/setup-micromamba@v1 | |
| with: | |
| micromamba-version: '1.3.1-0' | |
| environment-file: environment_linux_cpuonly.yml | |
| - name: Environment setup | |
| run: | | |
| bash .github/scripts/setup.sh | |
| conda info | |
| - name: Prepare dataset | |
| run: | | |
| DATASET_NAME=${{ matrix.config_dataset_info[1] }} | |
| DATASET_SRC=${{ matrix.config_dataset_info[4] }} | |
| bash .github/scripts/download_single_benchmark.sh \ | |
| $DATASET_NAME \ | |
| $DATASET_SRC \ | |
| - name: Run GTSFM | |
| run: | | |
| DATASET_NAME=${{ matrix.config_dataset_info[1] }} | |
| CONFIG_NAME=${{ matrix.config_dataset_info[0] }} | |
| MAX_FRAME_LOOKAHEAD=${{ matrix.config_dataset_info[2] }} | |
| LOADER_NAME=${{ matrix.config_dataset_info[5] }} | |
| MAX_RESOLUTION=${{ matrix.config_dataset_info[6] }} | |
| SHARE_INTRINSICS=${{ matrix.config_dataset_info[7] }} | |
| bash .github/scripts/execute_single_benchmark.sh \ | |
| $DATASET_NAME \ | |
| $CONFIG_NAME \ | |
| $MAX_FRAME_LOOKAHEAD \ | |
| $LOADER_NAME \ | |
| $MAX_RESOLUTION \ | |
| $SHARE_INTRINSICS | |
| - name: Archive dataset metrics, plots, and output data (camera poses + points) | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: results-${{ matrix.config_dataset_info[0] }}-${{ matrix.config_dataset_info[1] }}-${{ matrix.config_dataset_info[2] }}-${{ matrix.config_dataset_info[3] }}-${{ matrix.config_dataset_info[4] }}-${{ matrix.config_dataset_info[5] }}-${{ matrix.config_dataset_info[6] }}-${{ matrix.config_dataset_info[7] }}.zip | |
| path: | | |
| result_metrics | |
| plots | |
| results |