poselib-2.0.4 estimate_relative_pose need an additional dict as input.

[Chen-AMD4800U]

Thanks for your outstanding work!!!!!

I had some problems while using glure-fatory to eval Megadepth. Although the problems were solved, i change some code in gluefactory/robust_estimators/relative_pose/poselib.py, so i think i need to submit an issue.

poselib version: 2.0.4
config:
{'checkpoint': None, 'data': {'depth_dir': '{scene}/depths', 'depth_format': 'h5', 'image_dir': '{scene}/images', 'name': 'posed_images', 'preprocessing': {'resize': 1600, 'side': 'long'}, 'root': '', 'scene_list': ['megadepth1500'], 'view_groups': '{scene}/pairs.txt', 'views': '{scene}/views.txt'}, 'eval': {'estimator': 'poselib', 'ransac_th': 0.5}, 'model': {'extractor': {'name': 'extractors.ripe', 'threshold': 1.0, 'top_k': 2048}, 'ground_truth': {'name': None}, 'matcher': {'name': 'matchers.nearest_neighbor_matcher'}, 'name': 'two_view_pipeline'}}
(ripe is a ICCV25 work. RIPE)

As shown above, i use poselib as estimator.
However, if i directly use function (line 21 - line 30)
M, info = poselib.estimate_relative_pose(
pts0.numpy(),
pts1.numpy(),
camera0.to_cameradict(),
camera1.to_cameradict(),
{
"max_epipolar_error": self.conf.ransac_th,
**OmegaConf.to_container(self.conf.options),
},
)

it will return an input error:

TypeError: estimate_relative_pose(): incompatible function arguments. The following argument types are supported: 1. (arg0: numpy.ndarray[numpy.float64[m, 2]], arg1: numpy.ndarray[numpy.float64[m, 2]], arg2: poselib.Camera, arg3: poselib.Camera, arg4: dict, arg5: dict) -> tuple[poselib.CameraPose, dict] 2. (arg0: numpy.ndarray[numpy.float64[m, 2]], arg1: numpy.ndarray[numpy.float64[m, 2]], arg2: dict, arg3: dict, arg4: dict, arg5: dict) -> tuple[poselib.CameraPose, dict]

it seems that poselib add bundle_opt dict as a forced Input.
so i changed code to below as a temporary form.

M, info = poselib.estimate_relative_pose(
pts0.numpy(),
pts1.numpy(),
camera0.to_cameradict(),
camera1.to_cameradict(),
{
"max_epipolar_error": self.conf.ransac_th,
**OmegaConf.to_container(self.conf.options),
},
{} # use for bundle_opt. - poselib 2.0.4
)

And then, code will run well.

[Phil26AT]

Hey, thank you for raising this issue and proposing a fix! I could not reproduce this issue myself (I also use poselib 2.0.4), but I created a PR that should fix it for you and is also compatible with older poselib versions.