Poplar implementation of "Bundle Adjustment on a Graph Processor" (CVPR 2020)

Related tags

Deep Learning gbp-poplar
Overview

Poplar Implementation of Bundle Adjustment using Gaussian Belief Propagation on Graphcore's IPU

Implementation of CVPR 2020 paper: Bundle Adjustment on a Graph Processor

Find the Poplar SDK documentation here. Code has been tested on Poplar SDK 1.2.

Find the corresponding python implementation here.

Running Bundle Adjustment

cd ba
make ba
./ba --bal_file ../sequences/fr1xyz.txt

For more options

./ba --help

Running SLAM

cd ba
make slam
./slam --bal_file ../sequences/fr2robot2.txt

Citation

If you find our work useful in your research, please consider citing:

@InProceedings{OrtizCVPR2020,
author = {Ortiz, Joseph and Pupilli, Mark and Leutenegger, Stefan and Davison, Andrew J.},
title = {Bundle Adjustment on a Graph Processor},
booktitle = {{Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)}},
year = {2020}
}
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Comments
  • Update code option

    Update code option

    @joeaortiz - first of all, thanks for sharing the source code for your paper!

    I was just trying your code on a Graphcore Pod64 IPU server to see the effectiveness of IPU for BA / SLAM purposes.

    Following your instructions, I've got the error shown below:

    poplaruser1-3@ipu-pod64-mgmt:~/ba/gbp-poplar/ba$ ./ba --bal_file ../sequences/fr1xyz.txt 
Completed loading data!

Bundle Adjustment

Number of keyframe nodes in the graph: 42
Number of landmark nodes in the graph: 2194
Number of edges in the graph: 12908

Number of IPUs: 1
Number of keyframe / landmark / factor nodes per tile: 1 / 2 / 11
Number of tiles used by camera / landmark / factor nodes / total : 42 / 1097 / 1174 / 1216

Attaching to IPU device...
Attached to device: 0
terminate called after throwing an instance of 'poplar::invalid_option'
  what(): Unrecognised option 'target.workerStackSizeInBytes'
Aborted

    When I looked up the target.workerStackSizeInBytes option, I've got debug.workerStackSizeInBytes instead from the official document.

    image

    So I replaced the code with debug.workerStackSizeInBytes, then saw the code running.

    I'm not exactly sure why this works - since the debug.workerStackSizeInBytes options have never been changed from its older versions. And I'm also not too sure about what the original intent of the target.workerStackSizeInBytes is either, since I am very inexperienced in Poplar.

    Please take a look at the changes, and let me know if these changes are appropriate :smile_cat:

    opened by changh95 1
Owner
Joe Ortiz
Computer Vision PhD Student at Imperial College London | MPhys from University of Oxford | https://joeaortiz.github.io/
Joe Ortiz
GitHub
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