SIFT+ALIKED updates (cvg#26)

* fix links

* add sift/aliked eval configs

* add SIFT/ALIKED results on megadepth

* update sift config

* add SIFT with 4K keypoints results

* cleanup SIFT (see LightGlue)

* fix compatibility with LightGlue

* tiny visualization fix

* fix sift kornia

* Update sift configs

README.md

@@ -66,8 +66,8 @@ Here are the results as Area Under the Curve (AUC) of the homography error at  1
 
 | Methods                                                      | DLT         | [OpenCV](../gluefactory/robust_estimators/homography/opencv.py)       | [PoseLib](../gluefactory/robust_estimators/homography/poselib.py)      |
 | ------------------------------------------------------------ | ------------------ | ------------------ | ------------------ |
-| [SuperPoint + SuperGlue](../gluefactory/configs/superpoint+superglue.yaml) | 32.1 / 65.0 / 75.7 | 32.9 / 55.7 / 68.0 | 37.0 / 68.2 / 78.7 |
-| [SuperPoint + LightGlue](../gluefactory/configs/superpoint+lightglue.yaml) | 35.1 / 67.2 / 77.6 | 34.2 / 57.9 / 69.9 | 37.1 / 67.4 / 77.8 |
+| [SuperPoint + SuperGlue](../gluefactory/configs/superpoint+superglue-official.yaml) | 32.1 / 65.0 / 75.7 | 32.9 / 55.7 / 68.0 | 37.0 / 68.2 / 78.7 |
+| [SuperPoint + LightGlue](../gluefactory/configs/superpoint+lightglue-official.yaml) | 35.1 / 67.2 / 77.6 | 34.2 / 57.9 / 69.9 | 37.1 / 67.4 / 77.8 |
 
 
 </details>
@@ -159,8 +159,11 @@ Here are the results as Area Under the Curve (AUC) of the pose error at  5/10/20
 
 | Methods                                                      | [pycolmap](../gluefactory/robust_estimators/relative_pose/pycolmap.py)         | [OpenCV](../gluefactory/robust_estimators/relative_pose/opencv.py)       | [PoseLib](../gluefactory/robust_estimators/relative_pose/poselib.py)      |
 | ------------------------------------------------------------ | ------------------ | ------------------ | ------------------ |
-| [SuperPoint + SuperGlue](../gluefactory/configs/superpoint+superglue.yaml) | 54.4 / 70.4 / 82.4 | 48.7 / 65.6 / 79.0 | 64.8 / 77.9 / 87.0 |
-| [SuperPoint + LightGlue](../gluefactory/configs/superpoint+lightglue.yaml) | 56.7 / 72.4 / 83.7 | 51.0 / 68.1 / 80.7 | 66.8 / 79.3 / 87.9 |
+| [SuperPoint + SuperGlue](../gluefactory/configs/superpoint+superglue-official.yaml) | 54.4 / 70.4 / 82.4 | 48.7 / 65.6 / 79.0 | 64.8 / 77.9 / 87.0 |
+| [SuperPoint + LightGlue](../gluefactory/configs/superpoint+lightglue-official.yaml) | 56.7 / 72.4 / 83.7 | 51.0 / 68.1 / 80.7 | 66.8 / 79.3 / 87.9 |
+| [SIFT (2K) + LightGlue](../gluefactory/configs/sift+lightglue-official.yaml) | ? / ? / ? | 43.5 / 61.5 / 75.9 | 60.4 / 74.3 / 84.5 |
+| [SIFT (4K) + LightGlue](../gluefactory/configs/sift+lightglue-official.yaml) | ? / ? / ? | 49.9 / 67.3 / 80.3 | 65.9 / 78.6 / 87.4 |
+| [ALIKED + LightGlue](../gluefactory/configs/aliked+lightglue-official.yaml) | ? / ? / ? | 51.5 / 68.1 / 80.4 | 66.3 / 78.7 / 87.5 |
 | [SuperPoint + GlueStick](../gluefactory/configs/superpoint+lsd+gluestick.yaml) | 53.2 / 69.8 / 81.9 | 46.3 / 64.2 / 78.1 | 64.4 / 77.5 / 86.5 |
 
 </details>

gluefactory/configs/aliked+lightglue-official.yaml

@@ -0,0 +1,28 @@
+model:
+    name: two_view_pipeline
+    extractor:
+      name: extractors.aliked
+      max_num_keypoints: 2048
+      detection_threshold: 0.0
+    matcher:
+      name: matchers.lightglue_pretrained
+      features: aliked
+      depth_confidence: -1
+      width_confidence: -1
+      filter_threshold: 0.1
+benchmarks:
+    megadepth1500:
+      data:
+        preprocessing:
+          side: long
+          resize: 1600
+      eval:
+        estimator: opencv
+        ransac_th: 0.5
+    hpatches:
+      eval:
+        estimator: opencv
+        ransac_th: 0.5
+      model:
+        extractor:
+          max_num_keypoints: 1024  # overwrite config above

gluefactory/configs/sift+lightglue-official.yaml

@@ -0,0 +1,28 @@
+model:
+    name: two_view_pipeline
+    extractor:
+      name: extractors.sift
+      backend: pycolmap_cuda
+      max_num_keypoints: 4096
+    matcher:
+      name: matchers.lightglue_pretrained
+      features: sift
+      depth_confidence: -1
+      width_confidence: -1
+      filter_threshold: 0.1
+benchmarks:
+    megadepth1500:
+      data:
+        preprocessing:
+          side: long
+          resize: 1600
+      eval:
+        estimator: opencv
+        ransac_th: 0.5
+    hpatches:
+      eval:
+        estimator: opencv
+        ransac_th: 0.5
+      model:
+        extractor:
+          max_num_keypoints: 1024  # overwrite config above

gluefactory/configs/sift+lightglue_homography.yaml

@@ -14,10 +14,10 @@ model:
     name: two_view_pipeline
     extractor:
         name: extractors.sift
-        detector: pycolmap_cuda
+        backend: pycolmap_cuda
         max_num_keypoints: 1024
         force_num_keypoints: True
-        detection_threshold: 0.0001
+        nms_radius: 3
         trainable: False
     ground_truth:
         name: matchers.homography_matcher
@@ -46,3 +46,6 @@ benchmarks:
       eval:
         estimator: opencv
         ransac_th: 0.5
+      model:
+        extractor:
+          nms_radius: 0

gluefactory/configs/sift+lightglue_megadepth.yaml

@@ -25,10 +25,10 @@ model:
     name: two_view_pipeline
     extractor:
         name: extractors.sift
-        detector: pycolmap_cuda
+        backend: pycolmap_cuda
         max_num_keypoints: 2048
         force_num_keypoints: True
-        detection_threshold: 0.0001
+        nms_radius: 3
         trainable: False
     matcher:
         name: matchers.lightglue
@@ -62,6 +62,9 @@ benchmarks:
             preprocessing:
                 side: long
                 resize: 1600
+        model:
+            extractor:
+                nms_radius: 0
         eval:
             estimator: opencv
             ransac_th: 0.5
@@ -72,3 +75,4 @@ benchmarks:
         model:
             extractor:
                 max_num_keypoints: 1024
+                nms_radius: 0