borglab/gtsfm

Add unit tests to compare Colmap's RANSAC based triangulation with ours

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#206 opened on Jun 30, 2021

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enhancementgood first issue

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Description

Our initializer which implements RANSAC is found here: https://github.com/borglab/gtsfm/blob/2ffbfc3f4b089fbcc666947c97f78a310073fa15/gtsfm/data_association/point3d_initializer.py#L45

Contributor guide

Research direction
Examine the point3d initializer.py to understand the current RANSAC implementation, then study COLMAP's RANSAC triangulation code (likely in C++ but with Python bindings) to compare results for a set of synthetic or real data points. Write unit tests that assert the outputs are similar within a tolerance.
Tech stack
python
Domain
backend
Issue type
Test
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
1-3 hours
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Clear
Prerequisites
PythonGit
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65