Code release

[nushakrishnan]

This PR sets up the VI Optimization pipeline and also adds some general conversion tools. To run the pipeline

python -m run_pipeline --vrs path_to_vrs --output path_to_output --estimate path_to_estimate

It is broken into 4 modules:

• Conversion to COLMAP: converts the input estimate (or MPS folder) into an initial COLMAP model
• Keyframing: performs keyframing based on input keyframing params on the intial COLMAP model
• Triangulation: triangulation is run using hloc triangulation function on the keyframed COLMAP model
• VI Optimization: runs visual inertial optimization on the triangulated COLMAP model

Parameters for these modules can be set in ./defaults.yaml. The various parameters are read and passed into PipelineOptions class (lamaria/config/pipeline.py). Module-based options are also set in lamaria/config/options.py.

[nushakrishnan]

To be added to tools: rotate_asl.py

[B1ueber2y]

Should add a demo or test for this function in the top level.

[nushakrishnan]

The demo will be via the run_pipeline? It will run the entire pipeline thus testing each of the 4 modules?

[B1ueber2y]

If we want to expose this key framing module, we would have a demo or test on it. If we only have run_pipeline.py in the top level, it means that we do not expect user to know of any other interfaces, and this run_pipeline is the only feature that matters.

[B1ueber2y]

Left some more comments with some refactorization suggestions.

[B1ueber2y]

Thanks. Left more comments according to the new changes.