Astronet loader by travisdriver · Pull Request #258 · borglab/gtsfm

travisdriver · 2021-09-02T23:41:51Z

No description provided.

…et-loader

travisdriver · 2021-09-02T23:51:57Z

Current results on 2011205_opnav_022 segment of the Dawn mission to 4 Vesta. Plenty of room for improvement :)

johnwlambert · 2021-09-03T00:33:57Z

+
+TEST_DATA_ROOT = Path(__file__).resolve().parent.parent / "data"
+TEST_POINT3D_IDS = [7, 2560, 3063, 3252, 3424, 3534, 3653, 3786, 3920, 4062, 4420, 4698, 3311, 3963, 325]
+TEST_SFMTRACKS_INDICES = [0, 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300, 1400]


could you add an inline comment explaining where these come from and how they were selected?

Explanation added.

If these have a 1:1 correspondences, it might be better to use a list of tuples instead of 2 lists. Ive found that to cause fewer bugs.

They're used individually as well, so I thought it would be clearer to split them up.

akshay-krishnan · 2021-09-03T01:42:10Z

Please provide a PR description. I'll just let John and Ayush review this, as they are familiar with the loaders. :)

johnwlambert · 2021-09-03T03:10:07Z

Is the figure you posted

Current results on 2011205_opnav_022 segment of the Dawn mission to 4 Vesta.

from the deep front end?

travisdriver · 2021-09-03T14:06:29Z

Is the figure you posted
Current results on 2011205_opnav_022 segment of the Dawn mission to 4 Vesta.
from the deep front end?

Yes it is

johnwlambert · 2021-09-03T20:22:38Z

Is the figure you posted
Current results on 2011205_opnav_022 segment of the Dawn mission to 4 Vesta.
from the deep front end?
Yes it is

cool, indeed lots of room for improvement :-)

…et-loader

johnwlambert · 2021-09-09T17:40:27Z

Thanks for all the updates, Travis. Can we put the Astronet test data under an astronet subdir?

instead of tests/data/test_2011212_opnav_022/images/00000004.png
i would prefer tests/data/astronet/test_2011212_opnav_022/images/00000004.png
so people can know what dataset opnav refers to

johnwlambert · 2021-09-09T20:06:32Z

Looks quite good. Thanks Travis. @ayushbaid could you take another look when you get a chance since you are the most familiar with the BaseLoader class design?

johnwlambert · 2021-09-09T20:08:26Z

+
+from gtsfm.common.image import Image
+from gtsfm.loader.astronet_loader import AstroNetLoader
+from thirdparty.colmap.scripts.python.read_write_model import read_model


same note here about importing an individual function vs. Google style

akshay-krishnan · 2021-09-10T04:29:54Z

+logger = logger_utils.get_logger()
+
+
+class AstroNetLoader(LoaderBase):


Should the class be called AstronetLoader, considering the context here? The file is also called astronet_loader.

My dataset is called AstroNet, so yeah I think it should be AstronetLoader instead.

Akshay did you mean disambiguating from a CNN architecture/network name here?

Yeah I just meant using a small 'n' instead of 'N' because Astronet is one thing as far as the loader is concerned. Its resolved now.

akshay-krishnan · 2021-09-10T04:46:01Z

+
+TEST_DATA_ROOT = Path(__file__).resolve().parent.parent / "data"
+TEST_POINT3D_IDS = [7, 2560, 3063, 3252, 3424, 3534, 3653, 3786, 3920, 4062, 4420, 4698, 3311, 3963, 325]
+TEST_SFMTRACKS_INDICES = [0, 100, 200, 300, 400, 500, 600, 700, 800, 900, 1000, 1100, 1200, 1300, 1400]


If these have a 1:1 correspondences, it might be better to use a list of tuples instead of 2 lists. Ive found that to cause fewer bugs.

akshay-krishnan · 2021-09-10T04:46:30Z

+        # assert self.loader._gt_scene_trimesh is not None
+        # assert self.loader._gt_scene_trimesh.vertices;shape[0] == 5002


remove if unnecessary?

I will be uncommenting this (and some other tests) in the next PR when I add trimesh. It would be useful to be able to keep them here so I don't have to rewrite them.

travisdriver added 6 commits July 28, 2021 22:26

added loader, runner, and unit test

1e0c467

added unit tests

adcaa9c

Merge branch 'master' of https://github.com/borglab/gtsfm into astron…

0d9d13a

…et-loader

added more unit tests, changed some variable names, updated from master

cf35d5d

added testing data

95acdec

removed print statement

f2dbd82

removing changes to other files

b0eec76

travisdriver requested review from akshay-krishnan, ayushbaid and johnwlambert September 2, 2021 23:55

travisdriver added 2 commits September 2, 2021 20:07

fixed formatting issues in read_write_model.py

fe3b9ae

updated environment_linux.yml

72f26ca

johnwlambert reviewed Sep 3, 2021

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akshay-krishnan removed their request for review September 3, 2021 01:42

updated unit tests and documentation

1dc8fec

travisdriver added 3 commits September 5, 2021 11:12

added return type for all unit tests

c445248

fixed mypy warnings

5742bfa

removed dependencies on trimesh and embree

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travisdriver added 3 commits September 9, 2021 10:49

Merge branch 'master' of https://github.com/borglab/gtsfm into astron…

aae0bf9

…et-loader

addressed comments; still need to redocument colmap I/O file

d7a11af

redocumented colmap i/o functions

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johnwlambert reviewed Sep 9, 2021

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travisdriver added 3 commits September 9, 2021 15:13

addressing edits

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moved test data

0ca0f9a

moved test data

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travisdriver mentioned this pull request Sep 9, 2021

Converting third-party modules to submodules #284

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travisdriver requested review from akshay-krishnan, ayushbaid and johnwlambert September 9, 2021 19:28

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Comment thread gtsfm/loader/astronet_loader.py

addressed comment and merged with master

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travisdriver requested review from akshay-krishnan and johnwlambert September 10, 2021 15:32

travisdriver added 2 commits September 10, 2021 12:55

AstroNetLoad -> Astronetloader

40d4bde

removed change to environment

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akshay-krishnan approved these changes Sep 10, 2021

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travisdriver merged commit 9b2dbb0 into master Sep 10, 2021

		logger = logger_utils.get_logger()


		class AstroNetLoader(LoaderBase):

		# assert self.loader._gt_scene_trimesh is not None
		# assert self.loader._gt_scene_trimesh.vertices;shape[0] == 5002

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akshay-krishnan commented Sep 3, 2021

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