From 5c53d7af557d27d00028560fdd014b59afd10fa5 Mon Sep 17 00:00:00 2001
From: nantonzhang <nantonzhang.win@gmail.com>
Date: Thu, 16 Apr 2026 14:53:36 -0400
Subject: [PATCH] patch mvo

---
 gtsfm/cluster_optimizer/cluster_mvo.py | 14 ++++++++++++++
 gtsfm/configs/unified_megaloc.yaml     | 16 ++++++++--------
 gtsfm/runner.py                        |  9 ++++++++-
 run                                    |  6 +++---
 4 files changed, 33 insertions(+), 12 deletions(-)

diff --git a/gtsfm/cluster_optimizer/cluster_mvo.py b/gtsfm/cluster_optimizer/cluster_mvo.py
index bf7e99bcb..143e4ed60 100644
--- a/gtsfm/cluster_optimizer/cluster_mvo.py
+++ b/gtsfm/cluster_optimizer/cluster_mvo.py
@@ -58,6 +58,11 @@ def __init__(
         correspondence_generator: CorrespondenceGeneratorBase,
         two_view_estimator: TwoViewEstimator,
         multiview_optimizer: MultiViewOptimizer,
+        drop_outlier_after_camera_merging: bool | None = None,
+        drop_child_if_merging_fail: bool | None = None,
+        drop_camera_with_no_track: bool | None = None,
+        plot_reprojection_histograms: bool | None = None,
+        run_bundle_adjustment_on_parent: bool | None = None,
         dense_multiview_optimizer: Optional[MVSBase] = None,
         gaussian_splatting_optimizer: Optional[Any] = None,
         save_gtsfm_data: bool = True,
@@ -68,6 +73,15 @@ def __init__(
     ) -> None:
         super().__init__(output_worker=output_worker)
         self._pose_angular_error_thresh = pose_angular_error_thresh
+        # These legacy cluster-merging options are still present in several Hydra configs,
+        # but the leaf-only MVO optimizer does not consume them directly.
+        _ = (
+            drop_outlier_after_camera_merging,
+            drop_child_if_merging_fail,
+            drop_camera_with_no_track,
+            plot_reprojection_histograms,
+            run_bundle_adjustment_on_parent,
+        )
         # assign MVO-only correspondence generator on this instance
         self.correspondence_generator = correspondence_generator
         self.two_view_estimator = two_view_estimator
diff --git a/gtsfm/configs/unified_megaloc.yaml b/gtsfm/configs/unified_megaloc.yaml
index 1ef266186..c7ede0e24 100644
--- a/gtsfm/configs/unified_megaloc.yaml
+++ b/gtsfm/configs/unified_megaloc.yaml
@@ -113,11 +113,11 @@ cluster_optimizer:
       calibration_prior_focal_sigma: 20.0
       measurement_noise_sigma: 1.0
 
-  # comment out to not run
-  dense_multiview_optimizer:
-    _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
-
-  gaussian_splatting_optimizer:
-    _target_: gtsfm.splat.gaussian_splatting.GaussianSplatting
-    cfg:
-      _target_: gtsfm.splat.gaussian_splatting.Config
+  # # comment out to not run
+  # dense_multiview_optimizer:
+  #   _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
+
+  # gaussian_splatting_optimizer:
+  #   _target_: gtsfm.splat.gaussian_splatting.GaussianSplatting
+  #   cfg:
+  #     _target_: gtsfm.splat.gaussian_splatting.Config
diff --git a/gtsfm/runner.py b/gtsfm/runner.py
index fea7fb9f1..92fd294d0 100644
--- a/gtsfm/runner.py
+++ b/gtsfm/runner.py
@@ -289,7 +289,13 @@ def _set_mvo_overwrites(self, scene_optimizer: "SceneOptimizer", main_cfg) -> No
         if not self.parsed_args.run_mvs:
             multiview_optimizer.dense_multiview_optimizer = None
             logger.info("🔄 Disabled Multiview dense MVS optimizer via CLI flag --run_mvs=False")
-            OmegaConf.update(main_cfg, "cluster_optimizer.dense_multiview_optimizer", None, merge=False)
+            OmegaConf.update(
+                main_cfg,
+                "cluster_optimizer.dense_multiview_optimizer",
+                None,
+                merge=False,
+                force_add=True,
+            )
 
         # Override gaussian splatting
         if self.parsed_args.run_gs:
@@ -305,6 +311,7 @@ def _set_mvo_overwrites(self, scene_optimizer: "SceneOptimizer", main_cfg) -> No
                         "cluster_optimizer.gaussian_splatting_optimizer",
                         gs_cfg.gaussian_splatting_optimizer,
                         merge=False,
+                        force_add=True,
                     )
         else:
             multiview_optimizer.gaussian_splatting_optimizer = None
diff --git a/run b/run
index cd319a028..10767c63d 100755
--- a/run
+++ b/run
@@ -11,7 +11,7 @@ else
 fi
 
 if [ "$#" -eq 0 ]; then
-  exec "${PYTHON_CMD[@]}" gtsfm/runner.py --help
+  exec "${PYTHON_CMD[@]}" -m gtsfm.runner --help
 else
-  exec "${PYTHON_CMD[@]}" gtsfm/runner.py "$@"
-fi
\ No newline at end of file
+  exec "${PYTHON_CMD[@]}" -m gtsfm.runner "$@"
+fi