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patch mvo code to read updated configs #1105

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patch mvo code to read updated configs #1105

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14 changes: 14 additions & 0 deletions gtsfm/cluster_optimizer/cluster_mvo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -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,
)
Comment on lines +76 to +84

@akshay-krishnan akshay-krishnan Apr 17, 2026

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why is this code needed?

@akshay-krishnan akshay-krishnan Apr 17, 2026

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the fix is to update the configs.

# assign MVO-only correspondence generator on this instance
self.correspondence_generator = correspondence_generator
self.two_view_estimator = two_view_estimator
Expand Down
16 changes: 8 additions & 8 deletions gtsfm/configs/unified_megaloc.yaml
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Expand Up @@ -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
9 changes: 8 additions & 1 deletion gtsfm/runner.py
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Expand Up @@ -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:
Expand All @@ -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
Expand Down
6 changes: 3 additions & 3 deletions run
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Expand Up @@ -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 "$@"
fi
exec "${PYTHON_CMD[@]}" -m gtsfm.runner "$@"
fi
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