Ayush Baid
Ayush Baid
This seems to do better  
> @ayushbaid the diff is against "MST w/o Huber", not "no MST" right? Are we still seeing regressions when compared to "no MST"? The metrics are compared against master though
> Why did you turn off inlier weighting? It was just for experimentation and comparing different sets of values. Inlier weighting is on right now on master.
I cannot make sense of the results. For datasets where GTSFM performs poorly, we do good. However, we see some regression on other datasets.  
Metrics on 01/02: [visual_comparison_dashboard.zip](https://github.com/borglab/gtsfm/files/13811971/visual_comparison_dashboard.zip)
> It looks like you deleted a couple of the front-end configs. Did you mean to do that? I thought everything used unified, but apparently not. Let me revert.
This is the top level python script: https://github.com/zhangganlin/GlobalSfMpy/blob/main/scripts/sfm_pipeline.py
@stepanyanhayk is there any performance implication from this?
@johnwlambert this should be closed now?
Do we still want to merge this?