diff --git a/gtsfm/averaging/rotation/rig_shonan.py b/gtsfm/averaging/rotation/rig_shonan.py
deleted file mode 100644
index c2acd3008..000000000
--- a/gtsfm/averaging/rotation/rig_shonan.py
+++ /dev/null
@@ -1,57 +0,0 @@
-"""Shonan Rotation Averaging for the rig multi-sensory devices.
-
-Right now, this class is specific to the Hilti 2022 challenge. The hilti dataset has 5 cameras which are fired in sync. 
-Among the 5 cameras, camera #2 is the one facing up and is used to add intra-rig and inter-rig between factors. All 
-other priors are ignored.
-
-TODO(Ayush): generalize.
-
-Authors: Ayush Baid
-"""
-from typing import Dict, Tuple
-
-import gtsam
-from gtsam import BetweenFactorPose3, BetweenFactorPose3s
-
-import gtsfm.utils.logger as logger_utils
-from gtsfm.averaging.rotation.shonan import ShonanRotationAveraging
-from gtsfm.common.pose_prior import PosePrior
-
-CAM2_PRIOR_SIGMA = 0.1
-
-UPWARD_FACING_CAM_TYPE = 2
-POSE3_DOF = 6
-
-logger = logger_utils.get_logger()
-
-
-class RigShonanRotationAveraging(ShonanRotationAveraging):
-    """Performs Shonan rotation averaging."""
-
-    def __get_rig_idx(self, camera_idx: int) -> int:
-        """Get the rig index pertaining to the camera, as there are 5 cameras in sync per timestamp."""
-        return camera_idx // 5
-
-    def __get_camera_type(self, camera_idx: int) -> int:
-        """Get the type of the camera, i.e. the indexing of the camera according to its physical location in the rig."""
-        return camera_idx % 5
-
-    def _between_factors_from_pose_priors(
-        self, i2Ti1_priors: Dict[Tuple[int, int], PosePrior], old_to_new_idxs: Dict[int, int]
-    ) -> BetweenFactorPose3s:
-        between_factors = BetweenFactorPose3s()
-
-        for (i1, i2), i2Ti1_prior in i2Ti1_priors.items():
-            if (
-                self.__get_camera_type(i1) == UPWARD_FACING_CAM_TYPE
-                or self.__get_camera_type(i2) == UPWARD_FACING_CAM_TYPE
-            ):
-                i2_ = old_to_new_idxs[i2]
-                i1_ = old_to_new_idxs[i1]
-                between_factors.append(
-                    BetweenFactorPose3(
-                        i2_, i1_, i2Ti1_prior.value, gtsam.noiseModel.Isotropic.Sigma(POSE3_DOF, CAM2_PRIOR_SIGMA)
-                    )
-                )
-
-        return between_factors
diff --git a/gtsfm/averaging/rotation/rotation_averaging_base.py b/gtsfm/averaging/rotation/rotation_averaging_base.py
index 33a9878f0..784df7cf7 100644
--- a/gtsfm/averaging/rotation/rotation_averaging_base.py
+++ b/gtsfm/averaging/rotation/rotation_averaging_base.py
@@ -24,18 +24,18 @@ class RotationAveragingBase(metaclass=abc.ABCMeta):
 
     # ignored-abstractmethod
     @abc.abstractmethod
-    def run(
+    def run_rotation_averaging(
         self,
         num_images: int,
         i2Ri1_dict: Dict[Tuple[int, int], Optional[Rot3]],
-        i2Ti1_priors: Dict[Tuple[int, int], PosePrior],
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
     ) -> List[Optional[Rot3]]:
         """Run the rotation averaging.
 
         Args:
             num_images: number of poses.
             i2Ri1_dict: relative rotations as dictionary (i1, i2): i2Ri1.
-            i2Ti1_priors: priors on relative poses.
+            relative_pose_priors: priors on relative poses as dictionary(i1, i2): PosePrior on i1Ti2.
 
         Returns:
             Global rotations for each camera pose, i.e. wRi, as a list. The number of entries in the list is
@@ -71,7 +71,7 @@ def create_computation_graph(
         self,
         num_images: int,
         i2Ri1_graph: Delayed,
-        i2Ti1_priors: Dict[Tuple[int, int], PosePrior],
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
         gt_wTi_list: List[Optional[Pose3]],
     ) -> Tuple[Delayed, Delayed]:
         """Create the computation graph for performing rotation averaging.
@@ -79,14 +79,14 @@ def create_computation_graph(
         Args:
             num_images: number of poses.
             i2Ri1_graph: dictionary of relative rotations as a delayed task.
-            i2Ti1_priors: priors on relative poses.
+            relative_pose_priors: priors on relative poses as (i1, i2): PosePrior on i1Ti2.
             gt_wTi_list: ground truth poses, to be used for evaluation.
 
         Returns:
             global rotations wrapped using dask.delayed.
         """
 
-        wRis = dask.delayed(self.run)(num_images, i2Ri1_graph, i2Ti1_priors)
+        wRis = dask.delayed(self.run_rotation_averaging)(num_images, i2Ri1_graph, relative_pose_priors)
         metrics = dask.delayed(self.evaluate)(wRis, gt_wTi_list)
 
         return wRis, metrics
diff --git a/gtsfm/averaging/rotation/shonan.py b/gtsfm/averaging/rotation/shonan.py
index a056730d5..2a2a3dbc4 100644
--- a/gtsfm/averaging/rotation/shonan.py
+++ b/gtsfm/averaging/rotation/shonan.py
@@ -10,7 +10,7 @@
 
 Authors: Jing Wu, Ayush Baid, John Lambert
 """
-from typing import Dict, List, Optional, Tuple
+from typing import Dict, List, Optional, Set, Tuple
 
 import gtsam
 import numpy as np
@@ -71,12 +71,24 @@ def __between_factors_from_2view_relative_rotations(
         return between_factors
 
     def _between_factors_from_pose_priors(
-        self, i2Ti1_priors: Dict[Tuple[int, int], PosePrior], old_to_new_idxs: Dict[int, int]
+        self, relative_pose_priors: Dict[Tuple[int, int], PosePrior], old_to_new_idxs: Dict[int, int]
     ) -> BetweenFactorPose3s:
         """Create between factors from the priors on relative poses."""
         between_factors = BetweenFactorPose3s()
 
-        # TODO(Ayush): use the priors, atleast between disconnected components.
+        def get_isotropic_noise_model_sigma(covariance: np.ndarray) -> float:
+            """Get the sigma to be used for the isotropic noise model.
+            We compute the average of the diagonal entries of the covariance matrix.
+            """
+            avg_cov = np.average(np.diag(covariance), axis=None)
+            return np.sqrt(avg_cov)
+
+        for (i1, i2), i1Ti2_prior in relative_pose_priors.items():
+            i1_ = old_to_new_idxs[i1]
+            i2_ = old_to_new_idxs[i2]
+            noise_model_sigma = get_isotropic_noise_model_sigma(i1Ti2_prior.covariance)
+            noise_model = gtsam.noiseModel.Isotropic.Sigma(POSE3_DOF, noise_model_sigma)
+            between_factors.append(BetweenFactorPose3(i1_, i2_, i1Ti2_prior.value, noise_model))
 
         return between_factors
 
@@ -100,58 +112,77 @@ def _run_with_consecutive_ordering(
                 not be computed (either underconstrained system or ill-constrained system).
         """
 
-        obj = ShonanAveraging3(between_factors, self.__get_shonan_params())
+        logger.info(
+            "Running Shonan with %d constraints on %d nodes",
+            len(between_factors),
+            num_connected_nodes,
+        )
+        shonan = ShonanAveraging3(between_factors, self.__get_shonan_params())
 
-        initial = obj.initializeRandomly()
-        result_values, _ = obj.run(initial, self._p_min, self._p_max)
+        initial = shonan.initializeRandomly()
+        logger.info("Initial cost: %.5f", shonan.cost(initial))
+        result, _ = shonan.run(initial, self._p_min, self._p_max)
+        logger.info("Final cost: %.5f", shonan.cost(result))
 
         wRi_list_consecutive = [None] * num_connected_nodes
         for i in range(num_connected_nodes):
-            if result_values.exists(i):
-                wRi_list_consecutive[i] = result_values.atRot3(i)
+            if result.exists(i):
+                wRi_list_consecutive[i] = result.atRot3(i)
 
+        num_computed = sum(wRi is not None for wRi in wRi_list_consecutive)
+        logger.info("Computed %d global rotations", num_computed)
         return wRi_list_consecutive
 
-    def run(
+    def _nodes_with_edges(
+        self, i2Ri1_dict: Dict[Tuple[int, int], Optional[Rot3]], relative_pose_priors: Dict[Tuple[int, int], PosePrior]
+    ) -> Set[int]:
+        """Gets the nodes with edges which are to be modelled as between factors."""
+
+        unique_nodes_with_edges = set()
+        for (i1, i2) in i2Ri1_dict.keys():
+            unique_nodes_with_edges.add(i1)
+            unique_nodes_with_edges.add(i2)
+        for (i1, i2) in relative_pose_priors.keys():
+            unique_nodes_with_edges.add(i1)
+            unique_nodes_with_edges.add(i2)
+
+        return unique_nodes_with_edges
+
+    def run_rotation_averaging(
         self,
         num_images: int,
         i2Ri1_dict: Dict[Tuple[int, int], Optional[Rot3]],
-        i2Ti1_priors: Dict[Tuple[int, int], PosePrior],
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
     ) -> List[Optional[Rot3]]:
         """Run the rotation averaging on a connected graph with arbitrary keys, where each key is a image/pose index.
 
-        Note: run() functions as a wrapper that re-orders keys to prepare a graph w/ N keys ordered [0,...,N-1].
+        Note: functions as a wrapper that re-orders keys to prepare a graph w/ N keys ordered [0,...,N-1].
         All input nodes must belong to a single connected component, in order to obtain an absolute pose for each
         camera in a single, global coordinate frame.
 
         Args:
             num_images: number of images. Since we have one pose per image, it is also the number of poses.
             i2Ri1_dict: relative rotations for each image pair-edge as dictionary (i1, i2): i2Ri1.
-            i2Ti1_priors: priors on relative poses.
+            relative_pose_priors: priors on relative poses.
 
         Returns:
             Global rotations for each camera pose, i.e. wRi, as a list. The number of entries in the list is
                 `num_images`. The list may contain `None` where the global rotation could not be computed (either
                 underconstrained system or ill-constrained system), or where the camera pose had no valid observation
-                in the input to run().
+                in the input to run_rotation_averaging().
         """
         if len(i2Ri1_dict) == 0:
             logger.warning("Shonan cannot proceed: No cycle-consistent triplets found after filtering.")
             wRi_list = [None] * num_images
             return wRi_list
 
-        unique_nodes_with_edges = set()
-        for (i1, i2) in i2Ri1_dict.keys():
-            unique_nodes_with_edges.add(i1)
-            unique_nodes_with_edges.add(i2)
-
-        nodes_with_edges = sorted(list(unique_nodes_with_edges))
-        old_to_new_idxes = {new_idx: i for i, new_idx in enumerate(nodes_with_edges)}
+        nodes_with_edges = sorted(list(self._nodes_with_edges(i2Ri1_dict, relative_pose_priors)))
+        old_to_new_idxes = {old_idx: i for i, old_idx in enumerate(nodes_with_edges)}
 
         between_factors: BetweenFactorPose3s = self.__between_factors_from_2view_relative_rotations(
             i2Ri1_dict, old_to_new_idxes
         )
-        between_factors.extend(self._between_factors_from_pose_priors(i2Ti1_priors, old_to_new_idxes))
+        between_factors.extend(self._between_factors_from_pose_priors(relative_pose_priors, old_to_new_idxes))
 
         wRi_list_subset = self._run_with_consecutive_ordering(
             num_connected_nodes=len(nodes_with_edges), between_factors=between_factors
diff --git a/gtsfm/averaging/translation/averaging_1dsfm.py b/gtsfm/averaging/translation/averaging_1dsfm.py
index 960b1e918..c0fd68c4e 100644
--- a/gtsfm/averaging/translation/averaging_1dsfm.py
+++ b/gtsfm/averaging/translation/averaging_1dsfm.py
@@ -18,6 +18,8 @@
 import numpy as np
 from gtsam import (
     MFAS,
+    BinaryMeasurementPoint3,
+    BinaryMeasurementsPoint3,
     BinaryMeasurementsUnit3,
     BinaryMeasurementUnit3,
     Point3,
@@ -70,18 +72,21 @@ def __init__(
         self,
         robust_measurement_noise: bool = True,
         projection_sampling_method: ProjectionSamplingMethod = ProjectionSamplingMethod.SAMPLE_WITH_UNIFORM_DENSITY,
+        MFAS_outlier_rejection: bool = True,
     ) -> None:
         """Initializes the 1DSFM averaging instance.
 
         Args:
             robust_measurement_noise: Whether to use a robust noise model for the measurements, defaults to true.
             projection_sampling_method: ProjectionSamplingMethod to be used for directions to run 1DSfM.
+            MFAS_outlier_rejection: whether to perform outlier rejection with MFAS algorithm (default True).
         """
         super().__init__(robust_measurement_noise)
 
         self._max_1dsfm_projection_directions = MAX_PROJECTION_DIRECTIONS
         self._outlier_weight_threshold = OUTLIER_WEIGHT_THRESHOLD
         self._projection_sampling_method = projection_sampling_method
+        self._MFAS_outlier_rejection = MFAS_outlier_rejection
 
     def __sample_projection_directions(
         self,
@@ -91,7 +96,6 @@ def __sample_projection_directions(
 
         Args:
             w_i2Ui1_measurements: Unit translation measurements which are input to 1DSfM.
-            projection_sampling_method: ProjectionSamplingMethod to be used for sampling directions.
 
         Returns:
             List of sampled Unit3 projection directions.
@@ -113,7 +117,7 @@ def __sample_projection_directions(
 
         return projections
 
-    def compute_inlier_mask(
+    def __compute_inlier_mask(
         self,
         w_i2Ui1_measurements: BinaryMeasurementsUnit3,
     ) -> Set[Tuple[int, int]]:
@@ -125,36 +129,41 @@ def compute_inlier_mask(
         Returns:
             Set of indices (i1, i2) which are inliers.
         """
+        # Sample projection directions for 1DSfM.
         projection_directions = self.__sample_projection_directions(w_i2Ui1_measurements)
+        logger.debug("Sampled projection directions for 1DSfM.")
 
-        # compute outlier weights using MFAS
+        # Compute outlier weights using MFAS.
         outlier_weights: List[Dict[Tuple[int, int], float]] = []
         # TODO(ayush): parallelize this step.
         for direction in projection_directions:
             mfas_instance = MFAS(w_i2Ui1_measurements, direction)
             outlier_weights.append(mfas_instance.computeOutlierWeights())
+        logger.debug("Computed outlier weights using MFAS.")
 
-        # compute average outlier weight
+        # Compute average outlier weight.
         outlier_weights_sum: DefaultDict[Tuple[int, int], float] = defaultdict(float)
-        inlier_idxs = set()
+        inliers = set()
         for outlier_weight_dict in outlier_weights:
             # TODO(akshay-krishnan): use keys from outlier weight dict once we can iterate over it (gtsam fix).
             for idx in range(len(w_i2Ui1_measurements)):
                 w_i2Ui1 = w_i2Ui1_measurements[idx]
                 i2, i1 = w_i2Ui1.key1(), w_i2Ui1.key2()
                 outlier_weights_sum[(i2, i1)] += outlier_weight_dict[(i2, i1)]
+        logger.debug("Computed average outlier weight.")
 
+        # Find inliers.
         for (i2, i1) in outlier_weights_sum:
             if outlier_weights_sum[(i2, i1)] / len(projection_directions) < OUTLIER_WEIGHT_THRESHOLD:
-                inlier_idxs.add((i1, i2))
+                inliers.add((i1, i2))
 
-        return inlier_idxs
+        return inliers
 
     def _get_prior_measurements_in_world_frame(
         self,
         relative_pose_priors: Dict[Tuple[int, int], PosePrior],
         wRi_list: List[Optional[Rot3]],
-    ) -> gtsam.BinaryMeasurementsPoint3:
+    ) -> BinaryMeasurementsPoint3:
         """Converts the priors from relative Pose3 priors to relative Point3 priors in world frame.
 
         Args:
@@ -162,29 +171,32 @@ def _get_prior_measurements_in_world_frame(
             wRi_list: Absolute rotation estimates from rotation averaging.
 
         Returns:
-            gtsam.BinaryMeasurementsPoint3 containing Point3 priors in world frame.
+            BinaryMeasurementsPoint3 containing Point3 priors in world frame.
         """
         if len(relative_pose_priors) == 0:
-            return gtsam.BinaryMeasurementsPoint3()
-
-        def get_prior_in_world_frame(i2, i2Ti1_prior):
-            return wRi_list[i2].rotate(i2Ti1_prior.value.translation())
-
-        w_i2ti1_priors = gtsam.BinaryMeasurementsPoint3()
-
-        for (i1, i2), i2Ti1_prior in relative_pose_priors.items():
-            # TODO(akshay-krishnan): Use the translation covariance, transform to world frame.
-            # noise_model = gtsam.noiseModel.Gaussian.Covariance(i2Ti1_prior.covariance)
-            noise_model = gtsam.noiseModel.Isotropic.Sigma(3, 1e-2)
-            w_i2ti1_priors.append(
-                gtsam.BinaryMeasurementPoint3(
-                    i2,
+            return BinaryMeasurementsPoint3()
+
+        def get_prior_in_world_frame(i1, i1Ti2_prior) -> Tuple[Point3, gtsam.noiseModel.Gaussian]:
+            """Transforms a direction prior from i1 coordinate frame to world coordinates using wRi1."""
+            wRi1 = wRi_list[i1].matrix()
+            w_i1ti2 = wRi1 @ i1Ti2_prior.value.translation()
+            w_cov = wRi1 @ i1Ti2_prior.covariance[3:, 3:] @ wRi1.T
+            noise_model = gtsam.noiseModel.Gaussian.Covariance(w_cov)
+            return w_i1ti2, noise_model
+
+        w_relative_translation_priors = BinaryMeasurementsPoint3()
+
+        for (i1, i2), i1Ti2_prior in relative_pose_priors.items():
+            w_i1ti2, noise_model = get_prior_in_world_frame(i1, i1Ti2_prior)
+            w_relative_translation_priors.append(
+                BinaryMeasurementPoint3(
                     i1,
-                    get_prior_in_world_frame(i2, i2Ti1_prior),
+                    i2,
+                    w_i1ti2,
                     noise_model,
                 )
             )
-        return w_i2ti1_priors
+        return w_relative_translation_priors
 
     def __get_initial_values(self, wTi_initial: List[Optional[PosePrior]]):
         """Converts translations from a list of absolute poses to gtsam.Values for initialization.
@@ -198,8 +210,51 @@ def __get_initial_values(self, wTi_initial: List[Optional[PosePrior]]):
                 initial.insertPoint3(i, wTi.value.translation())
         return initial
 
+    def augment_measurement_with_priors(
+        self,
+        w_i2Ui1_measurements: BinaryMeasurementsUnit3,
+        w_relative_translation_priors: BinaryMeasurementsPoint3,
+        noise_model: gtsam.noiseModel,
+    ) -> BinaryMeasurementsUnit3:
+        """Augment the measurements with priors. If there is a pair (i1, i2) where the measurement is missing but the
+        prior is present, we will add the prior as the measurement.
+
+        Args:
+            w_i2Ui1_measurements: relative unit translation measurements in the world frame.
+            w_relative_translation_priors: relative translations in the world frame.
+            noise_model: noise model to be used for newly added measurements.
+
+        Returns:
+            Augmented measurements, which are a superset of w_i2Ui1_measurements.
+        """
+        # TODO: use deecopy when BinaryMeasurementsUnit3 can be pickled
+        # augmented_measurements = deepcopy(w_i2Ui1_measurements)
+        augmented_measurements = w_i2Ui1_measurements
+
+        nodes_with_measurements = set()
+        for idx in range(len(w_i2Ui1_measurements)):
+            measurement: BinaryMeasurementUnit3 = w_i2Ui1_measurements[idx]
+            nodes_with_measurements.add(measurement.key1())
+            nodes_with_measurements.add(measurement.key2())
+
+        for idx in range(len(w_relative_translation_priors)):
+            prior: BinaryMeasurementPoint3 = w_relative_translation_priors[idx]
+            i1 = prior.key1()
+            i2 = prior.key2()
+
+            if i1 in nodes_with_measurements and i2 in nodes_with_measurements:
+                continue
+
+            i1ti2_from_prior: Point3 = prior.measured()
+
+            i1Ui2 = Unit3(i1ti2_from_prior)
+
+            augmented_measurements.append(BinaryMeasurementUnit3(i1, i2, i1Ui2, noise_model))
+
+        return augmented_measurements
+
     # TODO(ayushbaid): Change wTi_initial to Pose3.
-    def run(
+    def run_translation_averaging(
         self,
         num_images: int,
         i2Ui1_dict: Dict[Tuple[int, int], Optional[Unit3]],
@@ -208,7 +263,7 @@ def run(
         relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {},
         scale_factor: float = 1.0,
         gt_wTi_list: Optional[List[Optional[Pose3]]] = None,
-    ) -> Tuple[List[Optional[Point3]], Optional[GtsfmMetricsGroup]]:
+    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup]]:
         """Run the translation averaging.
 
         Args:
@@ -216,7 +271,7 @@ def run(
             i2Ui1_dict: relative unit-translation as dictionary (i1, i2): i2Ui1
             wRi_list: global rotations for each camera pose in the world coordinates.
             absolute_pose_priors: priors on the camera poses (not delayed).
-            relative_pose_priors: priors on the pose between camera pairs (not delayed)
+            relative_pose_priors: priors on the pose between camera pairs (not delayed) as (i1, i2): i1Ti2.
             scale_factor: non-negative global scaling factor.
             gt_wTi_list: ground truth poses for computing metrics.
 
@@ -226,7 +281,7 @@ def run(
                 or ill-constrained system).
             A GtsfmMetricsGroup of 1DSfM metrics.
         """
-        logger.info("Running translation averaging on {} unit translations".format(len(i2Ui1_dict)))
+        logger.info(f"Running translation averaging on {len(i2Ui1_dict)} unit translations.")
         noise_model = gtsam.noiseModel.Isotropic.Sigma(NOISE_MODEL_DIMENSION, NOISE_MODEL_SIGMA)
         if self._robust_measurement_noise:
             huber_loss = gtsam.noiseModel.mEstimator.Huber.Create(HUBER_LOSS_K)
@@ -235,51 +290,63 @@ def run(
         w_i2Ui1_measurements = cast_to_measurements_variable_in_global_coordinate_frame(
             i2Ui1_dict, wRi_list, noise_model
         )
+        logger.debug("Created measurements in global frame.")
 
-        inlier_idxs: Set[Tuple[int, int]] = self.compute_inlier_mask(w_i2Ui1_measurements)
+        # Possibly perform (slow!) outlier rejection with Minimum Feedback Arc Set algorithm.
+        if self._MFAS_outlier_rejection:
+            inliers: Set[Tuple[int, int]] = self.__compute_inlier_mask(w_i2Ui1_measurements)
+            logger.debug("Computed inlier mask with MFAS.")
 
-        w_i2Ui1_inlier_measurements = BinaryMeasurementsUnit3()
-        for idx in range(len(w_i2Ui1_measurements)):
-            # key1 is i2 and key2 is i1 above.
-            w_i2Ui1 = w_i2Ui1_measurements[idx]
-            i1 = w_i2Ui1.key2()
-            i2 = w_i2Ui1.key1()
-            if (i1, i2) in inlier_idxs:
-                w_i2Ui1_inlier_measurements.append(w_i2Ui1)
+            w_i2Ui1_inlier_measurements = BinaryMeasurementsUnit3()
+            for idx in range(len(w_i2Ui1_measurements)):
+                # key1 is i2 and key2 is i1 above.
+                w_i2Ui1 = w_i2Ui1_measurements[idx]
+                i1 = w_i2Ui1.key2()
+                i2 = w_i2Ui1.key1()
+                if (i1, i2) in inliers:
+                    w_i2Ui1_inlier_measurements.append(w_i2Ui1)
+            logger.debug("Created inlier measurements.")
+            w_i2Ui1_measurements = w_i2Ui1_inlier_measurements
+        else:
+            inliers = set(i2Ui1_dict.keys())
 
         # Run the optimizer
-        # TODO(akshay-krishnan): remove once latest gtsam pip wheels updated.
-        try:
-            algorithm = TranslationRecovery()
-            w_i2ti1_priors = self._get_prior_measurements_in_world_frame(relative_pose_priors, wRi_list)
-            wti_initial = self.__get_initial_values(absolute_pose_priors)
-            if len(w_i2ti1_priors) > 0:
-                # scale is ignored here.
-                wti_values = algorithm.run(w_i2Ui1_inlier_measurements, 0.0, w_i2ti1_priors, wti_initial)
-            else:
-                wti_values = algorithm.run(w_i2Ui1_inlier_measurements, scale_factor)
-        except TypeError as e:
-            logger.error("TypeError: {}".format(str(e)))
-            recovery = TranslationRecovery(w_i2Ui1_inlier_measurements)
-            wti_values = recovery.run(scale_factor)
+        algorithm = TranslationRecovery()
+        w_relative_pose_priors = self._get_prior_measurements_in_world_frame(relative_pose_priors, wRi_list)
+        wti_initial = self.__get_initial_values(absolute_pose_priors)
+        logger.debug("Computed priors and initial values.")
+
+        if len(w_relative_pose_priors) > 0:
+            # scale is ignored here.
+            noise_model_for_augmentation = gtsam.noiseModel.Isotropic.Sigma(NOISE_MODEL_DIMENSION, NOISE_MODEL_SIGMA)
+            augmented_w_i2Ui1_measurements = self.augment_measurement_with_priors(
+                w_i2Ui1_measurements, w_relative_pose_priors, noise_model_for_augmentation
+            )
+            logger.debug("Running TranslactionRecovery with priors")
+            wti_values = algorithm.run(augmented_w_i2Ui1_measurements, 0.0, w_relative_pose_priors, wti_initial)
+
+        else:
+            logger.debug("Running translation recovery without priors")
+            wti_values = algorithm.run(w_i2Ui1_measurements, scale_factor)
 
         # transforming the result to the list of Point3
-        wti_list: List[Optional[Point3]] = [None] * num_images
-        for i in range(num_images):
-            if wRi_list[i] is not None and wti_values.exists(i):
-                wti_list[i] = wti_values.atPoint3(i)
+        wti_list = [
+            wti_values.atPoint3(i) if wRi_list[i] is not None and wti_values.exists(i) else None
+            for i in range(num_images)
+        ]
+        wTi_list = [
+            Pose3(wRi, wti) if wRi is not None and wti is not None else None for wRi, wti in zip(wRi_list, wti_list)
+        ]
 
         # Compute the metrics.
         if gt_wTi_list is not None:
-            ta_metrics = _compute_metrics(inlier_idxs, i2Ui1_dict, wRi_list, wti_list, gt_wTi_list)
+            ta_metrics = _compute_metrics(inliers, i2Ui1_dict, wRi_list, wti_list, gt_wTi_list)
         else:
             ta_metrics = None
-        num_translations = 0
-        for wti in wti_list:
-            if wti is not None:
-                num_translations += 1
+
+        num_translations = sum([1 for wti in wti_list if wti is not None])
         logger.info("Estimated {} translations out of {} images ".format(num_translations, num_images))
-        return wti_list, ta_metrics
+        return wTi_list, ta_metrics
 
 
 def _sample_kde_directions(w_i2Ui1_measurements: BinaryMeasurementsUnit3, num_samples: int) -> List[Unit3]:
@@ -370,11 +437,10 @@ def _compute_metrics(
         - Distribution of translation direction angles for inlier measurements.
         - Distribution of translation direction angle for outlier measurements.
     """
+    non_none_input_edges = [edge for edge, val in i2Ui1_dict.items() if val is not None]
     # Get ground truth translation directions for the measurements.
-    gt_i2Ui1_dict = metrics_utils.get_twoview_translation_directions(gt_wTi_list)
-    outlier_i1_i2_pairs = (
-        set([pair_idx for pair_idx, val in i2Ui1_dict.items() if val is not None]) - inlier_i1_i2_pairs
-    )
+    gt_i2Ui1_dict = metrics_utils.get_twoview_translation_directions(gt_wTi_list, non_none_input_edges)
+    outlier_i1_i2_pairs = set(non_none_input_edges) - inlier_i1_i2_pairs
 
     # Angle between i2Ui1 measurement and GT i2Ui1 measurement for inliers and outliers.
     inlier_angular_errors = _get_measurement_angle_errors(inlier_i1_i2_pairs, i2Ui1_dict, gt_i2Ui1_dict)
@@ -383,10 +449,6 @@ def _compute_metrics(
         inlier_angular_errors, outlier_angular_errors, MAX_INLIER_MEASUREMENT_ERROR_DEG
     )
 
-    measured_gt_i2Ui1_dict = {}
-    for (i1, i2) in set.union(inlier_i1_i2_pairs, outlier_i1_i2_pairs):
-        measured_gt_i2Ui1_dict[(i1, i2)] = gt_i2Ui1_dict[(i1, i2)]
-
     # Compute estimated poses after the averaging step and align them to ground truth.
     wTi_list: List[Optional[Pose3]] = []
     for (wRi, wti) in zip(wRi_list, wti_list):
@@ -409,7 +471,7 @@ def _compute_metrics(
         GtsfmMetric("num_translations_estimated", len([wti for wti in wti_list if wti is not None])),
         GtsfmMetric("1dsfm_inlier_angular_errors_deg", inlier_angular_errors),
         GtsfmMetric("1dsfm_outlier_angular_errors_deg", outlier_angular_errors),
-        metrics_utils.compute_translation_angle_metric(measured_gt_i2Ui1_dict, wTi_aligned_list),
+        metrics_utils.compute_translation_angle_metric(gt_i2Ui1_dict, wTi_aligned_list),
         metrics_utils.compute_translation_distance_metric(wti_aligned_list, gt_wti_list),
     ]
 
diff --git a/gtsfm/averaging/translation/rig_1dsfm.py b/gtsfm/averaging/translation/rig_1dsfm.py
deleted file mode 100644
index d0a45e414..000000000
--- a/gtsfm/averaging/translation/rig_1dsfm.py
+++ /dev/null
@@ -1,94 +0,0 @@
-"""Translation averaging using 1DSFM for a camera rig.
-
-This file creates a class that extends the 1DSfM module to work with camera rigs (currently Hilti).
-
-References:
-- https://research.cs.cornell.edu/1dsfm/
-- https://github.com/borglab/gtsam/blob/develop/gtsam/sfm/MFAS.h
-- https://github.com/borglab/gtsam/blob/develop/gtsam/sfm/TranslationRecovery.h
-- https://github.com/borglab/gtsam/blob/develop/python/gtsam/examples/TranslationAveragingExample.py
-
-Authors: Akshay Krishnan
-"""
-from typing import Dict, List, Optional, Tuple
-
-import gtsam
-from gtsam import Rot3
-
-import gtsfm.utils.logger as logger_utils
-from gtsfm.averaging.translation.averaging_1dsfm import TranslationAveraging1DSFM
-from gtsfm.common.pose_prior import PosePrior, PosePriorType
-
-logger = logger_utils.get_logger()
-
-
-class RigTranslationAveraging1DSFM(TranslationAveraging1DSFM):
-    """A special case of the 1DSFM implementation that pre-processes the relative prior for the Hilti rig."""
-
-    def _get_prior_measurements_in_world_frame(
-        self,
-        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
-        wRi_list: List[Optional[Rot3]],
-    ) -> gtsam.BinaryMeasurementsPoint3:
-        """Converts the priors from relative Pose3 priors to relative Point3 priors in world frame.
-
-        If the priors are hard constraints (in the same rig), a hard-coded noise model is used.
-        If the priors are soft constraints, the covariance from the PosePrior is used.
-
-        Soft constraints are only added between the 3rd rig cameras.
-        Hard constraints are only added between the 3rd camera and other cameras in same rig.
-
-        Args:
-            relative_pose_priors: Relative pose priors between cameras, could be a hard or soft prior.
-            wRi_list: Absolute rotation estimates from Shonan averaging.
-
-        Returns:
-            gtsam.BinaryMeasurementsPoint3 containing Point3 priors in world frame.
-        """
-        if len(relative_pose_priors) == 0:
-            return gtsam.BinaryMeasurementsPoint3()
-
-        NUM_CAMERAS_IN_RIG = 5
-        BODY_FRAME_CAMERA = 2
-
-        def get_prior_in_world_frame(i2, i2Ti1_prior):
-            return wRi_list[i2].rotate(i2Ti1_prior.value.translation())
-
-        HARD_CONSTRAINT_NOISE_MODEL = gtsam.noiseModel.Constrained.All(3)
-        VALID_HARD_CONSTRAINT_EDGES = [(0, 2), (1, 2), (2, 3), (2, 4)]
-
-        w_i2ti1_priors = gtsam.BinaryMeasurementsPoint3()
-        priors_added = set()
-        for (i1, i2), i2Ti1_prior in relative_pose_priors.items():
-            if i2Ti1_prior.type == PosePriorType.HARD_CONSTRAINT:
-                c1 = i1 % NUM_CAMERAS_IN_RIG
-                c2 = i2 % NUM_CAMERAS_IN_RIG
-                if (c1, c2) in VALID_HARD_CONSTRAINT_EDGES:
-                    w_i2ti1_priors.append(
-                        gtsam.BinaryMeasurementPoint3(
-                            i2,
-                            i1,
-                            get_prior_in_world_frame(i2, i2Ti1_prior),
-                            HARD_CONSTRAINT_NOISE_MODEL,
-                        )
-                    )
-                    priors_added.add((i2, i1))
-            else:
-                r1 = i1 // NUM_CAMERAS_IN_RIG
-                r2 = i2 // NUM_CAMERAS_IN_RIG
-                c1 = r1 * NUM_CAMERAS_IN_RIG + BODY_FRAME_CAMERA
-                c2 = r2 * NUM_CAMERAS_IN_RIG + BODY_FRAME_CAMERA
-                if (c1, c2) not in priors_added:
-                    # TODO(akshay-krishnan): Use the translation covariance, transform to world frame.
-                    # noise_model = gtsam.noiseModel.Gaussian.Covariance(i2Ti1_prior.covariance)
-                    noise_model = gtsam.noiseModel.Isotropic.Sigma(3, 1e-2)
-                    w_i2ti1_priors.append(
-                        gtsam.BinaryMeasurementPoint3(
-                            i2,
-                            i1,
-                            get_prior_in_world_frame(i2, i2Ti1_prior),
-                            noise_model,
-                        )
-                    )
-        logger.info("Added {} priors in rig translation averaging".format(len(w_i2ti1_priors)))
-        return w_i2ti1_priors
diff --git a/gtsfm/averaging/translation/translation_averaging_base.py b/gtsfm/averaging/translation/translation_averaging_base.py
index b1bb14952..e7d8cafcb 100644
--- a/gtsfm/averaging/translation/translation_averaging_base.py
+++ b/gtsfm/averaging/translation/translation_averaging_base.py
@@ -7,7 +7,7 @@
 
 import dask
 from dask.delayed import Delayed
-from gtsam import Point3, Pose3, Rot3, Unit3
+from gtsam import Pose3, Rot3, Unit3
 
 from gtsfm.common.pose_prior import PosePrior
 from gtsfm.evaluation.metrics import GtsfmMetricsGroup
@@ -29,7 +29,7 @@ def __init__(self, robust_measurement_noise: bool = True) -> None:
 
     # ignored-abstractmethod
     @abc.abstractmethod
-    def run(
+    def run_translation_averaging(
         self,
         num_images: int,
         i2Ui1_dict: Dict[Tuple[int, int], Optional[Unit3]],
@@ -38,7 +38,7 @@ def run(
         relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {},
         scale_factor: float = 1.0,
         gt_wTi_list: Optional[List[Optional[Pose3]]] = None,
-    ) -> Tuple[List[Optional[Point3]], Optional[GtsfmMetricsGroup]]:
+    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup]]:
         """Run the translation averaging.
 
         Args:
@@ -46,14 +46,14 @@ def run(
             i2Ui1_dict: relative unit-trans as dictionary (i1, i2): i2Ui1.
             wRi_list: global rotations for each camera pose in the world coordinates.
             absolute_pose_priors: priors on the camera poses (not delayed).
-            relative_pose_priors: priors on the pose between camera pairs (not delayed)
+            relative_pose_priors: priors on the pose between camera pairs as (i1, i2): i1Ti2.
             scale_factor: non-negative global scaling factor.
             gt_wTi_list: List of ground truth poses (wTi) for computing metrics.
 
         Returns:
-            Global translation wti for each camera pose. The number of entries in the list is `num_images`. The list
+            Global poses wTi for each camera pose. The number of entries in the list is `num_images`. The list
                 may contain `None` where the global translations could not be computed (either underconstrained system
-                or ill-constrained system).
+                or ill-constrained system) or where the global rotations are not available.
         """
 
     def create_computation_graph(
@@ -65,7 +65,7 @@ def create_computation_graph(
         relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {},
         scale_factor: float = 1.0,
         gt_wTi_list: Optional[List[Optional[Pose3]]] = None,
-    ) -> Delayed:
+    ) -> Tuple[Delayed, Delayed]:
         """Create the computation graph for performing translation averaging.
 
         Args:
@@ -73,14 +73,14 @@ def create_computation_graph(
             i2Ui1_graph: dictionary of relative unit translations as a delayed task.
             wRi_graph: list of global rotations wrapped up in Delayed.
             absolute_pose_priors: priors on the camera poses (not delayed).
-            relative_pose_priors: priors on the pose between camera pairs (not delayed)
+            relative_pose_priors: priors on the pose between camera pairs (not delayed).
             scale_factor: non-negative global scaling factor.
             gt_wTi_list: List of ground truth poses (wTi) for computing metrics.
 
         Returns:
-            Global unit translations wrapped as Delayed.
+            Global poses wrapped as Delayed.
             A GtsfmMetricsGroup with translation averaging metrics wrapped as Delayed.
         """
-        return dask.delayed(self.run, nout=2)(
+        return dask.delayed(self.run_translation_averaging, nout=2)(
             num_images, i2Ui1_graph, wRi_graph, absolute_pose_priors, relative_pose_priors, scale_factor, gt_wTi_list
         )
diff --git a/gtsfm/bundle/bundle_adjustment.py b/gtsfm/bundle/bundle_adjustment.py
index 5b98f340a..29cac5281 100644
--- a/gtsfm/bundle/bundle_adjustment.py
+++ b/gtsfm/bundle/bundle_adjustment.py
@@ -14,6 +14,7 @@
     BetweenFactorPose3,
     GeneralSFMFactor2Cal3Bundler,
     GeneralSFMFactor2Cal3Fisheye,
+    InitializePose3,
     NonlinearFactorGraph,
     PinholeCameraCal3Bundler,
     PinholeCameraCal3Fisheye,
@@ -128,7 +129,7 @@ def _between_factors(
         """Generate BetweenFactors on relative poses for pose variables."""
         graph = NonlinearFactorGraph()
 
-        for (i1, i2), i2Ti1_prior in relative_pose_priors.items():
+        for (i1, i2), i1Ti2_prior in relative_pose_priors.items():
             if i1 not in cameras_to_model or i2 not in cameras_to_model:
                 continue
 
@@ -136,8 +137,8 @@ def _between_factors(
                 BetweenFactorPose3(
                     X(i1),
                     X(i2),
-                    i2Ti1_prior.value.inverse(),
-                    gtsam.noiseModel.Diagonal.Sigmas(i2Ti1_prior.covariance),
+                    i1Ti2_prior.value,
+                    gtsam.noiseModel.Gaussian.Covariance(i1Ti2_prior.covariance),
                 )
             )
 
@@ -167,8 +168,30 @@ def __pose_priors(
 
         return graph
 
+    def __get_calibration(
+        self,
+        i: int,
+        initial_data: GtsfmData,
+        intrinsics: Optional[List[gtsfm_types.CALIBRATION_TYPE]] = None,
+    ) -> Optional[gtsfm_types.CALIBRATION_TYPE]:
+        """Get the calibration for a camera index from the initial data, with the explicitly supplied intrinsics as a
+        fallback.
+        """
+
+        camera = initial_data.get_camera(i)
+        if camera is not None:
+            return camera.calibration()
+        elif intrinsics is not None:
+            return intrinsics[i]
+
+        return None
+
     def __calibration_priors(
-        self, initial_data: GtsfmData, cameras_to_model: List[int], is_fisheye_calibration: bool
+        self,
+        initial_data: GtsfmData,
+        cameras_to_model: List[int],
+        is_fisheye_calibration: bool,
+        intrinsics: Optional[List[gtsfm_types.CALIBRATION_TYPE]] = None,
     ) -> NonlinearFactorGraph:
         """Generate prior factors on calibration parameters of the cameras."""
         graph = NonlinearFactorGraph()
@@ -178,23 +201,24 @@ def __calibration_priors(
         calibration_prior_noise_sigma = (
             CAM_CAL3FISHEYE_PRIOR_NOISE_SIGMA if is_fisheye_calibration else CAM_CAL3BUNDLER_PRIOR_NOISE_SIGMA
         )
-        if self._shared_calib:
+
+        # add calibration from either the cameras in initial_data or from the intrinsics passed as input argument.
+        for i in cameras_to_model:
+
+            calibration = self.__get_calibration(i, initial_data, intrinsics)
+            if calibration is None:
+                continue
+
             graph.push_back(
                 calibration_prior_factor_class(
-                    K(self.__map_to_calibration_variable(cameras_to_model[0])),
-                    initial_data.get_camera(cameras_to_model[0]).calibration(),
+                    K(self.__map_to_calibration_variable(i)),
+                    calibration,
                     gtsam.noiseModel.Isotropic.Sigma(calibration_prior_factor_dof, calibration_prior_noise_sigma),
                 )
             )
-        else:
-            for i in cameras_to_model:
-                graph.push_back(
-                    calibration_prior_factor_class(
-                        K(self.__map_to_calibration_variable(i)),
-                        initial_data.get_camera(i).calibration(),
-                        gtsam.noiseModel.Isotropic.Sigma(calibration_prior_factor_dof, calibration_prior_noise_sigma),
-                    )
-                )
+
+            if self._shared_calib and graph.size() > 0:
+                break
 
         return graph
 
@@ -204,6 +228,7 @@ def __construct_factor_graph(
         initial_data: GtsfmData,
         absolute_pose_priors: List[Optional[PosePrior]],
         relative_pose_priors: Dict[Tuple[int, int], PosePrior],
+        intrinsics: Optional[List[gtsfm_types.CALIBRATION_TYPE]] = None,
     ) -> NonlinearFactorGraph:
         """Construct the factor graph with reprojection factors, BetweenFactors, and prior factors."""
         is_fisheye_calibration = isinstance(initial_data.get_camera(cameras_to_model[0]), PinholeCameraCal3Fisheye)
@@ -224,7 +249,7 @@ def __construct_factor_graph(
                 camera_for_origin=cameras_to_model[0],
             )
         )
-        graph.push_back(self.__calibration_priors(initial_data, cameras_to_model, is_fisheye_calibration))
+        graph.push_back(self.__calibration_priors(initial_data, cameras_to_model, is_fisheye_calibration, intrinsics))
 
         # Also add a prior on the position of the first landmark to fix the scale
         graph.push_back(
@@ -235,17 +260,72 @@ def __construct_factor_graph(
 
         return graph
 
-    def __initial_values(self, initial_data: GtsfmData) -> Values:
-        """Initialize all the variables in the factor graph."""
-        initial_values = gtsam.Values()
+    def __initial_pose_values(
+        self,
+        initial_data: GtsfmData,
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
+        cameras_to_model: List[int],
+    ) -> Values:
+        """Initialize pose3 variables in the factor graph."""
+
+        initial_values = Values()
+        for i in initial_data.get_valid_camera_indices():
+            initial_values.insert(X(i), initial_data.get_camera(i).pose())
+
+        if len(relative_pose_priors) == 0:
+            return initial_values
+
+        pose_init_graph = NonlinearFactorGraph()
+
+        for i in initial_data.get_valid_camera_indices():
+            pose_init_graph.push_back(
+                PriorFactorPose3(
+                    X(i),
+                    initial_data.get_camera(i).pose(),
+                    gtsam.noiseModel.Isotropic.Sigma(CAM_POSE3_DOF, CAM_POSE3_PRIOR_NOISE_SIGMA),
+                )
+            )
+
+        for (i1, i2), i1Ti2_prior in relative_pose_priors.items():
+            if i1 not in cameras_to_model or i2 not in cameras_to_model:
+                continue
+
+            # TODO: Investigate why this does not work when we use pose prior's sigmas.
+            pose_init_graph.push_back(
+                BetweenFactorPose3(
+                    X(i1),
+                    X(i2),
+                    i1Ti2_prior.value,
+                    gtsam.noiseModel.Isotropic.Sigma(CAM_POSE3_DOF, CAM_POSE3_PRIOR_NOISE_SIGMA),
+                )
+            )
+
+        return InitializePose3.initialize(pose_init_graph, initial_values, useGradient=False)
 
-        # add each camera
-        for loop_idx, i in enumerate(initial_data.get_valid_camera_indices()):
-            camera = initial_data.get_camera(i)
-            initial_values.insert(X(i), camera.pose())
-            if not self._shared_calib or loop_idx == 0:
-                # add only one value if calibrations are shared
-                initial_values.insert(K(self.__map_to_calibration_variable(i)), camera.calibration())
+    def __initial_calibration_values(
+        self,
+        initial_data: GtsfmData,
+        cameras_to_model: List[int],
+        intrinsics: Optional[List[gtsfm_types.CALIBRATION_TYPE]] = None,
+    ) -> Values:
+        """Initialize calibration variables in the factor graph."""
+        initial_values = Values()
+
+        is_calibration_added = False
+        for i in cameras_to_model:
+            if not is_calibration_added or not self._shared_calib:
+                calibration = self.__get_calibration(i, initial_data, intrinsics)
+                if calibration is None:
+                    continue
+
+                initial_values.insert(K(self.__map_to_calibration_variable(i)), calibration)
+
+                is_calibration_added = True
+
+        return initial_values
+
+    def __initial_landmark_values(self, initial_data: GtsfmData) -> Values:
+        initial_values = Values()
 
         # add each SfmTrack
         for j in range(initial_data.number_tracks()):
@@ -265,7 +345,7 @@ def __optimize_factor_graph(self, graph: NonlinearFactorGraph, initial_values: V
         result_values = lm.optimize()
         return result_values
 
-    def __cameras_to_model(
+    def _cameras_to_model(
         self,
         initial_data: GtsfmData,
         absolute_pose_priors: List[Optional[PosePrior]],
@@ -275,14 +355,21 @@ def __cameras_to_model(
         proxy for this function."""
         cameras: Set[int] = set(initial_data.get_valid_camera_indices())
 
+        # Add all relative pose priors have atleast one node in the GTSFM's data valid cameras.
+        for i1, i2 in relative_pose_priors.keys():
+            if i1 in cameras or i2 in cameras:
+                cameras.add(i1)
+                cameras.add(i2)
+
         return sorted(list(cameras))
 
-    def run(
+    def run_ba(
         self,
         initial_data: GtsfmData,
         absolute_pose_priors: List[Optional[PosePrior]],
         relative_pose_priors: Dict[Tuple[int, int], PosePrior],
         verbose: bool = True,
+        intrinsics: Optional[List[gtsfm_types.CALIBRATION_TYPE]] = None,
     ) -> Tuple[GtsfmData, GtsfmData, List[bool]]:
         """Run the bundle adjustment by forming factor graph and optimizing using Levenberg–Marquardt optimization.
 
@@ -291,9 +378,10 @@ def run(
             absolute_pose_priors: priors to be used on cameras.
             relative_pose_priors: priors on the pose between two cameras.
             verbose: Boolean flag to print out additional info for debugging.
+            intrinsics: intrinsics for all the cameras.
 
         Results:
-            Optimized camera poses, 3D point w/ tracks, and error metrics, aligned to GT (if provided).
+            Optimized camera poses, 3D point w/ tracks, and error metrics.
             Optimized camera poses after filtering landmarks (and cameras with no remaining landmarks).
             Valid mask as a list of booleans, indicating for each input track whether it was below the re-projection
                 threshold.
@@ -308,29 +396,39 @@ def run(
             )
             return initial_data, initial_data, [False] * initial_data.number_tracks()
 
-        cameras_to_model = self.__cameras_to_model(initial_data, absolute_pose_priors, relative_pose_priors)
+        cameras_to_model = self._cameras_to_model(initial_data, absolute_pose_priors, relative_pose_priors)
 
         graph = self.__construct_factor_graph(
             cameras_to_model=cameras_to_model,
             initial_data=initial_data,
             absolute_pose_priors=absolute_pose_priors,
             relative_pose_priors=relative_pose_priors,
+            intrinsics=intrinsics,
+        )
+        initial_values = self.__initial_pose_values(
+            initial_data=initial_data, relative_pose_priors=relative_pose_priors, cameras_to_model=cameras_to_model
         )
-        initial_values = self.__initial_values(initial_data=initial_data)
+        initial_values.insert(
+            self.__initial_calibration_values(
+                initial_data=initial_data, cameras_to_model=cameras_to_model, intrinsics=intrinsics
+            )
+        )
+        initial_values.insert(self.__initial_landmark_values(initial_data=initial_data))
+
         result_values = self.__optimize_factor_graph(graph, initial_values)
 
         final_error = graph.error(result_values)
 
         # Error drops from ~2764.22 to ~0.046
         if verbose:
-            logger.info(f"initial error: {graph.error(initial_values):.2f}")
-            logger.info(f"final error: {final_error:.2f}")
+            logger.info("Initial error: %.2f", graph.error(initial_values))
+            logger.info("Final error: %.2f", final_error)
 
         # construct the results
-        optimized_data = values_to_gtsfm_data(result_values, initial_data, self._shared_calib)
+        optimized_data = values_to_gtsfm_data(result_values, initial_data, cameras_to_model, self._shared_calib)
 
         if verbose:
-            logger.info("[Result] Number of tracks before filtering: %d", optimized_data.number_tracks())
+            logger.info("Number of tracks before filtering: %d", optimized_data.number_tracks())
 
         # filter the largest errors
         if self._output_reproj_error_thresh:
@@ -339,7 +437,7 @@ def run(
             valid_mask = [True] * optimized_data.number_tracks()
             filtered_result = optimized_data
 
-        logger.info("[Result] Number of tracks after filtering: %d", filtered_result.number_tracks())
+        logger.info("Number of tracks after filtering: %d", filtered_result.number_tracks())
 
         return optimized_data, filtered_result, valid_mask
 
@@ -366,6 +464,7 @@ def evaluate(
             return ba_metrics
 
         # align the sparse multi-view estimate after BA to the ground truth pose graph.
+        # Note: this aligned data is not returned anywhere.
         aligned_filtered_data = filtered_data.align_via_Sim3_to_poses(wTi_list_ref=poses_gt)
         ba_pose_error_metrics = metrics_utils.compute_ba_pose_metrics(
             gt_wTi_list=poses_gt, ba_output=aligned_filtered_data
@@ -384,8 +483,8 @@ def evaluate(
         ba_metrics.add_metrics(metrics_utils.get_stats_for_sfmdata(aligned_filtered_data, suffix="_filtered"))
         # ba_metrics.save_to_json(os.path.join(METRICS_PATH, "bundle_adjustment_metrics.json"))
 
-        logger.info("[Result] Mean track length %.3f", np.mean(aligned_filtered_data.get_track_lengths()))
-        logger.info("[Result] Median track length %.3f", np.median(aligned_filtered_data.get_track_lengths()))
+        logger.info("Mean track length %.3f", np.mean(aligned_filtered_data.get_track_lengths()))
+        logger.info("Median track length %.3f", np.median(aligned_filtered_data.get_track_lengths()))
         aligned_filtered_data.log_scene_reprojection_error_stats()
 
         return ba_metrics
@@ -408,20 +507,23 @@ def create_computation_graph(
             GtsfmData aligned to GT (if provided), wrapped up using dask.delayed
             Metrics group for BA results, wrapped up using dask.delayed
         """
-        optimized_sfm_data, filtered_sfm_data, _ = dask.delayed(self.run, nout=3)(
+        optimized_sfm_data, filtered_sfm_data, _ = dask.delayed(self.run_ba, nout=3)(
             sfm_data_graph, absolute_pose_priors, relative_pose_priors
         )
         metrics_graph = dask.delayed(self.evaluate)(optimized_sfm_data, filtered_sfm_data, cameras_gt)
         return filtered_sfm_data, metrics_graph
 
 
-def values_to_gtsfm_data(values: Values, initial_data: GtsfmData, shared_calib: bool) -> GtsfmData:
+def values_to_gtsfm_data(
+    values: Values, initial_data: GtsfmData, cameras_modeled: List[int], shared_calib: bool
+) -> GtsfmData:
     """Cast results from the optimization to GtsfmData object.
 
     Args:
         values: results of factor graph optimization.
         initial_data: data used to generate the factor graph; used to extract information about poses and 3d points in
                       the graph.
+        cameras_modeled: the cameras modeled in the factor graph.
         shared_calib: flag indicating if calibrations were shared between the cameras.
 
     Returns:
@@ -437,7 +539,7 @@ def values_to_gtsfm_data(values: Values, initial_data: GtsfmData, shared_calib:
     camera_class = PinholeCameraCal3Fisheye if is_fisheye_calibration else PinholeCameraCal3Bundler
 
     # add cameras
-    for i in initial_data.get_valid_camera_indices():
+    for i in cameras_modeled:
         result.add_camera(
             i,
             camera_class(values.atPose3(X(i)), cal3_value_extraction_lambda(i)),
diff --git a/gtsfm/bundle/rig_bundle_adjustment.py b/gtsfm/bundle/rig_bundle_adjustment.py
deleted file mode 100644
index 91e891902..000000000
--- a/gtsfm/bundle/rig_bundle_adjustment.py
+++ /dev/null
@@ -1,72 +0,0 @@
-"""Special Bundle adjustment optimizer to handle rigs: devices with multiple sensors.
-
-Right now, this class is specific to the rig in the Hilti 2022 challenge, and needs generalization. The hilti dataset
-has 5 cameras which are fired in sync. Among the 5 cameras, camera #2 is the one facing up and is used to add intra-rig
-and inter-rig between factors.
-TODO(Ayush): generalize.
-
-Authors: Ayush Baid.
-"""
-from typing import Dict, List, Tuple
-
-import gtsam
-from gtsam import BetweenFactorPose3, NonlinearFactorGraph
-
-import gtsfm.utils.logger as logger_utils
-from gtsfm.bundle.bundle_adjustment import BundleAdjustmentOptimizer, X
-from gtsfm.common.pose_prior import PosePrior
-
-UPWARD_FACING_CAM_TYPE = 2
-
-
-logger = logger_utils.get_logger()
-
-
-class RigBundleAdjustmentOptimizer(BundleAdjustmentOptimizer):
-    """Bundle adjustment for special rig multi-sensory devices."""
-
-    # TODO(Ayush): share calibrations between same cams?
-    # TODO(Ayush): use a diagonal model for calibration prior as distortion should have much lower sigmas?
-
-    def __get_rig_idx(self, camera_idx: int) -> int:
-        """Get the rig index pertaining to the camera, as there are 5 cameras in sync per timestamp."""
-        return camera_idx // 5
-
-    def __get_camera_type(self, camera_idx: int) -> int:
-        """Get the type of the camera, i.e. the indexing of the camera according to its physical location in the rig."""
-        return camera_idx % 5
-
-    def _between_factors(
-        self, relative_pose_priors: Dict[Tuple[int, int], PosePrior], cameras_to_model: List[int]
-    ) -> NonlinearFactorGraph:
-        """Add between factors on poses between cameras and IMUs.
-
-        1. For the same timestamp, add a prior factor between each camera and cam2.
-        2. For different timestamps, the between factors are between cam2s only.
-        """
-        graph = NonlinearFactorGraph()
-
-        # translate the relative pose priors between cams to IMUs, and add if not already present
-        between_factors: Dict[Tuple[int, int], BetweenFactorPose3] = {}
-        for (i1, i2), i2Ti1_prior in relative_pose_priors.items():
-            if i1 not in cameras_to_model or i2 not in cameras_to_model:
-                continue
-
-            b1: int = self.__get_rig_idx(i1)
-            b2: int = self.__get_rig_idx(i2)
-            cam_type_i1: int = self.__get_camera_type(i1)
-            cam_type_i2: int = self.__get_camera_type(i2)
-
-            if (b1 == b2 and (cam_type_i1 == UPWARD_FACING_CAM_TYPE or cam_type_i2 == UPWARD_FACING_CAM_TYPE)) or (
-                cam_type_i1 == UPWARD_FACING_CAM_TYPE and cam_type_i2 == UPWARD_FACING_CAM_TYPE
-            ):
-                between_factors[(i1, i2)] = BetweenFactorPose3(
-                    X(i2), X(i1), i2Ti1_prior.value, gtsam.noiseModel.Diagonal.Sigmas(i2Ti1_prior.covariance)
-                )
-
-        logger.info("Added %d between factors for BA", len(between_factors))
-
-        for factor in between_factors.values():
-            graph.push_back(factor)
-
-        return graph
diff --git a/gtsfm/common/gtsfm_data.py b/gtsfm/common/gtsfm_data.py
index 26a123e0a..59e346154 100644
--- a/gtsfm/common/gtsfm_data.py
+++ b/gtsfm/common/gtsfm_data.py
@@ -329,7 +329,7 @@ def aggregate_metrics(self) -> Dict[str, Any]:
 
         convert_to_rounded_float = lambda x: float(np.round(x, 3))
 
-        stats_dict = {}
+        stats_dict: Dict[str, Any] = {}
         stats_dict["number_tracks"] = self.number_tracks()
         stats_dict["3d_track_lengths"] = {
             "min": convert_to_rounded_float(track_lengths_3d.min()),
diff --git a/gtsfm/configs/deep_front_end.yaml b/gtsfm/configs/deep_front_end.yaml
index a6e5c493e..2f3611c3f 100644
--- a/gtsfm/configs/deep_front_end.yaml
+++ b/gtsfm/configs/deep_front_end.yaml
@@ -38,8 +38,7 @@ SceneOptimizer:
   multiview_optimizer:
     _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
 
-    # comment out to not run
-    view_graph_estimator:
+    view_graph_estimator: # optional
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
       edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
       
@@ -69,6 +68,5 @@ SceneOptimizer:
       robust_measurement_noise: True
       shared_calib: False
 
-  # comment out to not run
-  dense_multiview_optimizer:
+  dense_multiview_optimizer: # optional
     _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
diff --git a/gtsfm/configs/deep_front_end_astronet.yaml b/gtsfm/configs/deep_front_end_astronet.yaml
index e71804142..4c40de457 100644
--- a/gtsfm/configs/deep_front_end_astronet.yaml
+++ b/gtsfm/configs/deep_front_end_astronet.yaml
@@ -39,7 +39,8 @@ SceneOptimizer:
 
   multiview_optimizer:
     _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
-    view_graph_estimator:
+
+    view_graph_estimator: # optional
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
       edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
 
@@ -68,5 +69,5 @@ SceneOptimizer:
       robust_measurement_noise: True
       shared_calib: False
 
-  dense_multiview_optimizer:
+  dense_multiview_optimizer: # optional
     _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
diff --git a/gtsfm/configs/deep_front_end_hilti.yaml b/gtsfm/configs/deep_front_end_hilti.yaml
deleted file mode 100644
index a0bc472db..000000000
--- a/gtsfm/configs/deep_front_end_hilti.yaml
+++ /dev/null
@@ -1,74 +0,0 @@
-SceneOptimizer:
-  _target_: gtsfm.scene_optimizer.SceneOptimizer
-  save_gtsfm_data: True
-  save_two_view_correspondences_viz: False
-  save_3d_viz: True
-  pose_angular_error_thresh: 5 # degrees
-
-  feature_extractor:
-    _target_: gtsfm.feature_extractor.FeatureExtractor
-    detector_descriptor:
-      _target_: gtsfm.frontend.cacher.detector_descriptor_cacher.DetectorDescriptorCacher
-      detector_descriptor_obj:
-        _target_: gtsfm.frontend.detector_descriptor.superpoint.SuperPointDetectorDescriptor
-        max_keypoints: 5000
-
-  two_view_estimator:
-    _target_: gtsfm.two_view_estimator.TwoViewEstimator
-    bundle_adjust_2view: True
-    eval_threshold_px: 4 # in px
-    bundle_adjust_2view_maxiters: 5
-
-    matcher:
-      _target_: gtsfm.frontend.cacher.matcher_cacher.MatcherCacher
-      matcher_obj:
-        _target_: gtsfm.frontend.matcher.superglue_matcher.SuperGlueMatcher
-        use_outdoor_model: True
-
-    verifier:
-      _target_: gtsfm.frontend.verifier.ransac.Ransac
-      use_intrinsics_in_verification: True
-      estimation_threshold_px: 4 # for H/E/F estimators
-
-    inlier_support_processor:
-      _target_: gtsfm.two_view_estimator.InlierSupportProcessor
-      min_num_inliers_est_model: 15
-      min_inlier_ratio_est_model: 0.1
-
-  multiview_optimizer:
-    _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
-
-    # comment out to not run
-    # view_graph_estimator:
-    #   _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
-    #   edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
-      
-    rot_avg_module:
-      _target_: gtsfm.averaging.rotation.rig_shonan.RigShonanRotationAveraging
-
-    trans_avg_module:
-      _target_: gtsfm.averaging.translation.rig_1dsfm.RigTranslationAveraging1DSFM
-      robust_measurement_noise: True
-      projection_sampling_method: SAMPLE_INPUT_MEASUREMENTS
-
-    data_association_module:
-      _target_: gtsfm.data_association.data_assoc.DataAssociation
-      min_track_len: 2
-      triangulation_options:
-        _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
-        reproj_error_threshold: 10
-        mode:
-          _target_: gtsfm.data_association.point3d_initializer.TriangulationSamplingMode
-          value: RANSAC_SAMPLE_UNIFORM
-        max_num_hypotheses: 100
-      save_track_patches_viz: False
-
-    bundle_adjustment_module:
-      _target_: gtsfm.bundle.rig_bundle_adjustment.RigBundleAdjustmentOptimizer.
-      output_reproj_error_thresh: 3 # for post-optimization filtering
-      robust_measurement_noise: True
-      shared_calib: False
-
-  # comment out to not run
-  # dense_multiview_optimizer:
-  #   _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
diff --git a/gtsfm/configs/scene_optimizer_unit_test_config.yaml b/gtsfm/configs/scene_optimizer_unit_test_config.yaml
index ed7e00dd4..0e441eb45 100644
--- a/gtsfm/configs/scene_optimizer_unit_test_config.yaml
+++ b/gtsfm/configs/scene_optimizer_unit_test_config.yaml
@@ -31,7 +31,8 @@ SceneOptimizer:
 
   multiview_optimizer:
     _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
-    view_graph_estimator:
+
+    view_graph_estimator: # optional
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
       edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
       
@@ -59,5 +60,5 @@ SceneOptimizer:
       robust_measurement_noise: True
       shared_calib: True
 
-  dense_multiview_optimizer:
+  dense_multiview_optimizer: # optional
     _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
diff --git a/gtsfm/configs/sift_front_end.yaml b/gtsfm/configs/sift_front_end.yaml
index 6b69b00d4..152e45240 100644
--- a/gtsfm/configs/sift_front_end.yaml
+++ b/gtsfm/configs/sift_front_end.yaml
@@ -38,8 +38,7 @@ SceneOptimizer:
   multiview_optimizer:
     _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
 
-    # comment out to not run
-    view_graph_estimator:
+    view_graph_estimator: # optional
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
       edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
 
@@ -69,6 +68,5 @@ SceneOptimizer:
       robust_measurement_noise: True
       shared_calib: False
 
-  # comment out to not run
-  dense_multiview_optimizer:
+  dense_multiview_optimizer: # optional 
     _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
diff --git a/gtsfm/configs/sift_front_end_astronet.yaml b/gtsfm/configs/sift_front_end_astronet.yaml
index 305881696..26243fa7b 100644
--- a/gtsfm/configs/sift_front_end_astronet.yaml
+++ b/gtsfm/configs/sift_front_end_astronet.yaml
@@ -36,7 +36,8 @@ SceneOptimizer:
 
   multiview_optimizer:
     _target_: gtsfm.multi_view_optimizer.MultiViewOptimizer
-    view_graph_estimator:
+
+    view_graph_estimator: # optional
       _target_: gtsfm.view_graph_estimator.cycle_consistent_rotation_estimator.CycleConsistentRotationViewGraphEstimator
       edge_error_aggregation_criterion: MEDIAN_EDGE_ERROR
 
@@ -66,5 +67,5 @@ SceneOptimizer:
       robust_measurement_noise: True
       shared_calib: False
 
-  dense_multiview_optimizer:
+  dense_multiview_optimizer: # optional
     _target_: gtsfm.densify.mvs_patchmatchnet.MVSPatchmatchNet
diff --git a/gtsfm/data_association/data_assoc.py b/gtsfm/data_association/data_assoc.py
index 4a1418a9a..149665850 100644
--- a/gtsfm/data_association/data_assoc.py
+++ b/gtsfm/data_association/data_assoc.py
@@ -52,7 +52,7 @@ def __validate_track(self, sfm_track: Optional[SfmTrack]) -> bool:
         """Validate the track by checking its length."""
         return sfm_track is not None and sfm_track.numberMeasurements() >= self.min_track_len
 
-    def run(
+    def run_da(
         self,
         num_images: int,
         cameras: Dict[int, gtsfm_types.CAMERA_TYPE],
@@ -85,8 +85,8 @@ def run(
         # track lengths w/o triangulation check
         track_lengths_2d = np.array(list(map(lambda x: int(x.number_measurements()), tracks_2d)), dtype=np.uint32)
 
-        logger.debug("[Data association] input number of tracks: %s", len(tracks_2d))
-        logger.debug("[Data association] input avg. track length: %s", np.mean(track_lengths_2d))
+        logger.debug("Input number of tracks: %d", len(tracks_2d))
+        logger.debug("Input avg. track length: %d", np.mean(track_lengths_2d))
 
         # Initialize 3D landmark for each track
         point3d_initializer = Point3dInitializer(cameras, self.triangulation_options)
@@ -99,6 +99,7 @@ def run(
             triangulated_data.add_camera(i, camera)
 
         exit_codes_wrt_gt = track_utils.classify_tracks2d_with_gt_cameras(tracks=tracks_2d, cameras_gt=cameras_gt)
+        logger.debug("Classified  %d tracks", len(exit_codes_wrt_gt))
 
         # add valid tracks where triangulation is successful
         exit_codes_wrt_computed: List[TriangulationExitCode] = []
@@ -116,6 +117,7 @@ def run(
                 per_accepted_track_avg_errors.append(avg_track_reproj_error)
             else:
                 per_rejected_track_avg_errors.append(avg_track_reproj_error)
+        logger.debug("Added %d tracks", triangulated_data.number_tracks())
 
         # aggregate the exit codes to get the distribution w.r.t each triangulation exit
         # get the exit codes distribution w.r.t. the camera params computed by the upstream modules of GTSFM
@@ -129,6 +131,7 @@ def run(
         track_cheirality_failure_ratio = exit_codes_wrt_computed_distribution[
             TriangulationExitCode.CHEIRALITY_FAILURE
         ] / len(tracks_2d)
+        logger.debug("Computed track_cheirality_failure_ratio: %.2f", track_cheirality_failure_ratio)
 
         # pick only the largest connected component
         # TODO(Ayush): remove this for hilti as disconnected components not an issue?
@@ -136,12 +139,13 @@ def run(
         connected_data = triangulated_data.select_largest_connected_component(extra_camera_edges=cam_edges_from_prior)
         num_accepted_tracks = connected_data.number_tracks()
         accepted_tracks_ratio = num_accepted_tracks / len(tracks_2d)
+        logger.debug("Selected largest connected component with %d tracks.", num_accepted_tracks)
 
         mean_3d_track_length, median_3d_track_length = connected_data.get_track_length_statistics()
         track_lengths_3d = connected_data.get_track_lengths()
 
-        logger.debug("[Data association] output number of tracks: %s", num_accepted_tracks)
-        logger.debug("[Data association] output avg. track length: %.2f", mean_3d_track_length)
+        logger.debug("Output number of tracks: %s", num_accepted_tracks)
+        logger.debug("Output avg. track length: %.2f", mean_3d_track_length)
 
         data_assoc_metrics = GtsfmMetricsGroup(
             "data_association_metrics",
@@ -211,7 +215,7 @@ def create_computation_graph(
             data_assoc_metrics_graph: dictionary with different statistics about the data
                 association result
         """
-        ba_input_graph, data_assoc_metrics_graph = dask.delayed(self.run, nout=2)(
+        ba_input_graph, data_assoc_metrics_graph = dask.delayed(self.run_da, nout=2)(
             num_images, cameras, corr_idxs_graph, keypoints_graph, cameras_gt, relative_pose_priors, images_graph
         )
 
diff --git a/gtsfm/feature_extractor.py b/gtsfm/feature_extractor.py
index b0878be9e..d111332ef 100644
--- a/gtsfm/feature_extractor.py
+++ b/gtsfm/feature_extractor.py
@@ -20,14 +20,14 @@ def __init__(self, detector_descriptor: DetectorDescriptorBase) -> None:
         """
         self.detector_descriptor = detector_descriptor
 
-    def create_computation_graph(self, image_graph: Delayed) -> Tuple[Delayed, Delayed]:
+    def create_computation_graph(self, image: Delayed) -> Tuple[Delayed, Delayed]:
         """Given an image, create detection and descriptor generation tasks
 
         Args:
-            image_graph: image wrapped up in Delayed
+            image: image wrapped up in Delayed
 
         Returns:
             Delayed object for detected keypoints.
             Delayed object for corr. descriptors.
         """
-        return self.detector_descriptor.create_computation_graph(image_graph)
+        return self.detector_descriptor.create_computation_graph(image)
diff --git a/gtsfm/frontend/cacher/two_view_cacher.py b/gtsfm/frontend/cacher/two_view_cacher.py
new file mode 100644
index 000000000..d7c7e2223
--- /dev/null
+++ b/gtsfm/frontend/cacher/two_view_cacher.py
@@ -0,0 +1,183 @@
+"""Cacher for two-view-estimator, which caches the output on disk in the top level folder `cache`.
+
+Authors: Ayush Baid
+"""
+from pathlib import Path
+from typing import Any, Dict, List, Optional, Tuple
+
+import numpy as np
+from gtsam import Pose3, Rot3, Unit3
+
+import gtsfm.common.types as gtsfm_types
+import gtsfm.utils.cache as cache_utils
+import gtsfm.utils.io as io_utils
+import gtsfm.utils.logger as logger_utils
+from gtsfm.common.keypoints import Keypoints
+from gtsfm.common.pose_prior import PosePrior
+from gtsfm.two_view_estimator import TwoViewEstimator
+
+logger = logger_utils.get_logger()
+
+CACHE_ROOT_PATH = Path(__file__).resolve().parent.parent.parent.parent / "cache"
+NUM_KEYPOINTS_TO_SAMPLE_FOR_HASH = 10
+
+ROT_KEY = "rot3"
+DIRECTION_KEY = "unit3"
+CORR_IDXES_KEY = "idxes"
+
+
+class TwoViewCacher(TwoViewEstimator):
+    """Cacher for TwoViewEstimator's output on disk, keyed on the input.
+
+    The cached data is the relative rotation, unit translation, and the keypoint indices for verified correspondences.
+    The key for the cache is the keypoints, descriptors, and image shape of the 2 images.
+    """
+
+    def __init__(self, two_view_estimator: TwoViewEstimator) -> None:
+        self._two_view_estimator = two_view_estimator
+        # TODO(ayushbaid): make the obj cache key dependent on the code
+        self._two_view_estimator_key = (
+            type(self._two_view_estimator._matcher).__name__ + type(self._two_view_estimator._verifier).__name__
+        )
+
+    def __get_cache_path(self, cache_key: str) -> Path:
+        """Gets the file path to the cache bz2 file from the cache key."""
+        return CACHE_ROOT_PATH / "two_view" / "{}.pbz2".format(cache_key)
+
+    def __generate_cache_key(
+        self,
+        keypoints_i1: Keypoints,
+        keypoints_i2: Keypoints,
+        descriptors_i1: np.ndarray,
+        descriptors_i2: np.ndarray,
+        im_shape_i1: Tuple[int, int],
+        im_shape_i2: Tuple[int, int],
+    ) -> str:
+        """Generates the cache key from the input detections, image shapes, and underlying matcher+verifier.
+
+        This function uses the first few keypoints and descriptors to generate a key, and hence is not guaranteed to
+        be unique. However, since its unlikely that keypoints/descriptors exactly match in the selected few indices,
+        and differ in the remaining, its a good choice for a key.
+        """
+        numpy_arrays_to_hash: List[np.ndarray] = []
+
+        for keypoints_i, descriptors_i in zip([keypoints_i1, keypoints_i2], [descriptors_i1, descriptors_i2]):
+            # subsample and concatenate keypoints and descriptors
+            numpy_arrays_to_hash.append(keypoints_i.coordinates[:NUM_KEYPOINTS_TO_SAMPLE_FOR_HASH].flatten())
+            if keypoints_i.responses is not None:
+                numpy_arrays_to_hash.append(keypoints_i.responses[:NUM_KEYPOINTS_TO_SAMPLE_FOR_HASH].flatten())
+            if keypoints_i.scales is not None:
+                numpy_arrays_to_hash.append(keypoints_i.scales[:NUM_KEYPOINTS_TO_SAMPLE_FOR_HASH].flatten())
+            numpy_arrays_to_hash.append(descriptors_i[:NUM_KEYPOINTS_TO_SAMPLE_FOR_HASH].flatten())
+
+        # add the shapes as a numpy array
+        h1, w1 = im_shape_i1
+        h2, w2 = im_shape_i2
+        numpy_arrays_to_hash.append(np.array([h1, w1, h2, w2]))
+
+        # hash the concatenation of all the numpy arrays
+        input_key = cache_utils.generate_hash_for_numpy_array(np.concatenate(numpy_arrays_to_hash))
+
+        return "{}_{}".format(self._two_view_estimator_key, input_key)
+
+    def __load_result_from_cache(
+        self,
+        keypoints_i1: Keypoints,
+        keypoints_i2: Keypoints,
+        descriptors_i1: np.ndarray,
+        descriptors_i2: np.ndarray,
+        im_shape_i1: Tuple[int, int],
+        im_shape_i2: Tuple[int, int],
+    ) -> Optional[Dict[str, Any]]:
+        """Load cached result, if it exists. The cached result will be a dictionary with 3 items."""
+        cache_path = self.__get_cache_path(
+            cache_key=self.__generate_cache_key(
+                keypoints_i1=keypoints_i1,
+                keypoints_i2=keypoints_i2,
+                descriptors_i1=descriptors_i1,
+                descriptors_i2=descriptors_i2,
+                im_shape_i1=im_shape_i1,
+                im_shape_i2=im_shape_i2,
+            )
+        )
+        return io_utils.read_from_bz2_file(cache_path)
+
+    def __save_result_to_cache(
+        self,
+        keypoints_i1: Keypoints,
+        keypoints_i2: Keypoints,
+        descriptors_i1: np.ndarray,
+        descriptors_i2: np.ndarray,
+        im_shape_i1: Tuple[int, int],
+        im_shape_i2: Tuple[int, int],
+        data: Dict[str, Any],
+    ) -> None:
+        """Save the results to the cache."""
+        cache_path = self.__get_cache_path(
+            cache_key=self.__generate_cache_key(
+                keypoints_i1=keypoints_i1,
+                keypoints_i2=keypoints_i2,
+                descriptors_i1=descriptors_i1,
+                descriptors_i2=descriptors_i2,
+                im_shape_i1=im_shape_i1,
+                im_shape_i2=im_shape_i2,
+            )
+        )
+        io_utils.write_to_bz2_file(data, cache_path)
+
+    def run_2view(
+        self,
+        keypoints_i1: Keypoints,
+        keypoints_i2: Keypoints,
+        descriptors_i1: np.ndarray,
+        descriptors_i2: np.ndarray,
+        camera_intrinsics_i1: Optional[gtsfm_types.CALIBRATION_TYPE],
+        camera_intrinsics_i2: Optional[gtsfm_types.CALIBRATION_TYPE],
+        im_shape_i1: Tuple[int, int],
+        im_shape_i2: Tuple[int, int],
+        i2Ti1_prior: Optional[PosePrior],
+        gt_wTi1: Optional[Pose3],
+        gt_wTi2: Optional[Pose3],
+        gt_scene_mesh: Optional[Any] = None,
+    ) -> Tuple[Optional[Rot3], Optional[Unit3], np.ndarray]:
+        # TODO: use prior in cache key
+        cached_data = self.__load_result_from_cache(
+            keypoints_i1=keypoints_i1,
+            keypoints_i2=keypoints_i2,
+            descriptors_i1=descriptors_i1,
+            descriptors_i2=descriptors_i2,
+            im_shape_i1=im_shape_i1,
+            im_shape_i2=im_shape_i2,
+        )
+
+        if cached_data is not None:
+            return cached_data[ROT_KEY], cached_data[DIRECTION_KEY], cached_data[CORR_IDXES_KEY]
+
+        i2Ri1, i2Ui1, v_corr_idxs = self._two_view_estimator.run_2view(
+            keypoints_i1,
+            keypoints_i2,
+            descriptors_i1,
+            descriptors_i2,
+            camera_intrinsics_i1,
+            camera_intrinsics_i2,
+            im_shape_i1,
+            im_shape_i2,
+            i2Ti1_prior,
+            gt_wTi1,
+            gt_wTi2,
+            gt_scene_mesh,
+        )
+
+        results = {ROT_KEY: i2Ri1, DIRECTION_KEY: i2Ui1, CORR_IDXES_KEY: v_corr_idxs}
+
+        self.__save_result_to_cache(
+            keypoints_i1=keypoints_i1,
+            keypoints_i2=keypoints_i2,
+            descriptors_i1=descriptors_i1,
+            descriptors_i2=descriptors_i2,
+            im_shape_i1=im_shape_i1,
+            im_shape_i2=im_shape_i2,
+            data=results,
+        )
+
+        return i2Ri1, i2Ui1, v_corr_idxs
diff --git a/gtsfm/frontend/detector_descriptor/colmap_sift.py b/gtsfm/frontend/detector_descriptor/colmap_sift.py
new file mode 100644
index 000000000..b55d1de20
--- /dev/null
+++ b/gtsfm/frontend/detector_descriptor/colmap_sift.py
@@ -0,0 +1,32 @@
+"""Colmap's SIFT detector-descriptor.
+
+This detector-descriptor uses a third-party implementation.
+
+Reference: https://github.com/colmap/pycolmap#sift-feature-extraction
+
+Authors: Ayush Baid
+"""
+from typing import Tuple
+
+import numpy as np
+import pycolmap
+
+import gtsfm.utils.images as image_utils
+from gtsfm.common.image import Image
+from gtsfm.common.keypoints import Keypoints
+from gtsfm.frontend.detector_descriptor.detector_descriptor_base import DetectorDescriptorBase
+
+
+class ColmapSIFTDetectorDescriptor(DetectorDescriptorBase):
+    def detect_and_describe(self, image: Image) -> Tuple[Keypoints, np.ndarray]:
+        grayscale_vals: np.ndarray[np.uint8] = image_utils.rgb_to_gray_cv(image).value_array
+
+        keypoints_pycolmap, keypoint_scores, descriptors = pycolmap.extract_sift(
+            grayscale_vals.astype(np.float64) / 255
+        )
+        return (
+            Keypoints(
+                coordinates=keypoints_pycolmap[:, :2], scales=keypoints_pycolmap[:, 2], responses=keypoint_scores
+            ),
+            descriptors,
+        )
diff --git a/gtsfm/frontend/detector_descriptor/superpoint.py b/gtsfm/frontend/detector_descriptor/superpoint.py
index fbc63872a..97c09403c 100644
--- a/gtsfm/frontend/detector_descriptor/superpoint.py
+++ b/gtsfm/frontend/detector_descriptor/superpoint.py
@@ -31,7 +31,11 @@ class SuperPointDetectorDescriptor(DetectorDescriptorBase):
     """Superpoint Detector+Descriptor implementation."""
 
     def __init__(
-        self, max_keypoints: int = 5000, use_cuda: bool = True, weights_path: Union[Path, str] = MODEL_WEIGHTS_PATH
+        self,
+        max_keypoints: int = 5000,
+        use_cuda: bool = True,
+        weights_path: Union[Path, str] = MODEL_WEIGHTS_PATH,
+        init_model_in_constructor: bool = False,
     ) -> None:
         """Configures the object.
 
@@ -39,22 +43,34 @@ def __init__(
             max_keypoints: max keypoints to detect in an image.
             use_cuda (optional): flag controlling the use of GPUs via CUDA. Defaults to True.
             weights_path (optional): Path to the model weights. Defaults to MODEL_WEIGHT_PATH.
+            init_model_in_constructor (optional): Initialize the model with weights in the constructor instead of the
+                                                  `detect_and_describe` function. This setting is recommended when we
+                                                  are not using dask. Defaults to False.
         """
         super().__init__(max_keypoints=max_keypoints)
         self._use_cuda = use_cuda and torch.cuda.is_available()
         self._config = {"weights_path": weights_path}
 
+        self.device = torch.device("cuda" if self._use_cuda else "cpu")
+        if init_model_in_constructor:
+            self.model = SuperPoint(self._config).to(self.device)
+            self.model.eval()
+        else:
+            self.model = None
+
     def detect_and_describe(self, image: Image) -> Tuple[Keypoints, np.ndarray]:
         """Jointly generate keypoint detections and their associated descriptors from a single image."""
         # TODO(ayushbaid): fix inference issue #110
-        device = torch.device("cuda" if self._use_cuda else "cpu")
-        model = SuperPoint(self._config).to(device)
-        model.eval()
+        if self.model is not None:
+            model = self.model
+        else:
+            model = SuperPoint(self._config).to(self.device)
+            model.eval()
 
         # Compute features.
         image_tensor = torch.from_numpy(
             np.expand_dims(image_utils.rgb_to_gray_cv(image).value_array.astype(np.float32) / 255.0, (0, 1))
-        ).to(device)
+        ).to(self.device)
         with torch.no_grad():
             model_results = model({"image": image_tensor})
         torch.cuda.empty_cache()
diff --git a/gtsfm/frontend/inlier_support_processor.py b/gtsfm/frontend/inlier_support_processor.py
index 652cd504b..b44cc3546 100644
--- a/gtsfm/frontend/inlier_support_processor.py
+++ b/gtsfm/frontend/inlier_support_processor.py
@@ -37,7 +37,7 @@ def __init__(
         self._min_num_inliers_est_model = min_num_inliers_est_model
         self._min_inlier_ratio_est_model = min_inlier_ratio_est_model
 
-    def run(
+    def run_inlier_support(
         self,
         i2Ri1: Optional[Rot3],
         i2Ui1: Optional[Unit3],
@@ -117,4 +117,6 @@ def create_computation_graph(
                 May now be an empty array, if insufficient support.
             two_view_report_pp_graph: Post-processed two-view report (may now be None, if insufficient support).
         """
-        return dask.delayed(self.run, nout=4)(i2Ri1_graph, i2Ui1_graph, v_corr_idxs_graph, two_view_report_graph)
+        return dask.delayed(self.run_inlier_support, nout=4)(
+            i2Ri1_graph, i2Ui1_graph, v_corr_idxs_graph, two_view_report_graph
+        )
diff --git a/gtsfm/frontend/matcher/superglue_matcher.py b/gtsfm/frontend/matcher/superglue_matcher.py
index 0117d337f..2486114f6 100644
--- a/gtsfm/frontend/matcher/superglue_matcher.py
+++ b/gtsfm/frontend/matcher/superglue_matcher.py
@@ -28,8 +28,16 @@
 class SuperGlueMatcher(MatcherBase):
     """Implements the SuperGlue matcher -- a pretrained graph neural network using attention."""
 
-    def __init__(self, use_cuda: bool = True, use_outdoor_model: bool = True):
-        """Initialize the configuration and the parameters."""
+    def __init__(self, use_cuda: bool = True, use_outdoor_model: bool = True, init_model_in_constructor: bool = False):
+        """Initialize the class.
+
+        Args:
+            use_cuda (optional): Use CUDA (GPU) for inference. Defaults to True.
+            use_outdoor_model (optional): Use the outdoor weights for SuperGlue network. Defaults to True.
+            init_model_in_constructor (optional): Initialize the model with weights in the constructor instead of the
+                                                  `match` function. This setting is recommended when we are not using
+                                                  dask. Defaults to False.
+        """
         super().__init__()
 
         self._config = {
@@ -39,6 +47,12 @@ def __init__(self, use_cuda: bool = True, use_outdoor_model: bool = True):
         }
         self._use_cuda = use_cuda and torch.cuda.is_available()
 
+        self.device = torch.device("cuda" if self._use_cuda else "cpu")
+        if init_model_in_constructor:
+            self.model = SuperGlue(self._config).to(self.device).eval()
+        else:
+            self.model = None
+
     def match(
         self,
         keypoints_i1: Keypoints,
@@ -73,9 +87,6 @@ def match(
         if descriptors_i1.shape[1] != SUPERGLUE_DESC_DIM or descriptors_i2.shape[1] != SUPERGLUE_DESC_DIM:
             raise Exception("Superglue pretrained network only works on 256 dimensional descriptors")
 
-        device = torch.device("cuda" if self._use_cuda else "cpu")
-        model = SuperGlue(self._config).to(device).eval()
-
         # batch size and number of channels
         B, C = 1, 1
 
@@ -86,16 +97,21 @@ def match(
         empty_image_i2 = torch.empty((B, C, H2, W2))
 
         input_data = {
-            "keypoints0": torch.from_numpy(keypoints_i1.coordinates).unsqueeze(0).float().to(device),
-            "keypoints1": torch.from_numpy(keypoints_i2.coordinates).unsqueeze(0).float().to(device),
-            "descriptors0": torch.from_numpy(descriptors_i1).T.unsqueeze(0).float().to(device),
-            "descriptors1": torch.from_numpy(descriptors_i2).T.unsqueeze(0).float().to(device),
-            "scores0": torch.from_numpy(keypoints_i1.responses).unsqueeze(0).float().to(device),
-            "scores1": torch.from_numpy(keypoints_i2.responses).unsqueeze(0).float().to(device),
+            "keypoints0": torch.from_numpy(keypoints_i1.coordinates).unsqueeze(0).float().to(self.device),
+            "keypoints1": torch.from_numpy(keypoints_i2.coordinates).unsqueeze(0).float().to(self.device),
+            "descriptors0": torch.from_numpy(descriptors_i1).T.unsqueeze(0).float().to(self.device),
+            "descriptors1": torch.from_numpy(descriptors_i2).T.unsqueeze(0).float().to(self.device),
+            "scores0": torch.from_numpy(keypoints_i1.responses).unsqueeze(0).float().to(self.device),
+            "scores1": torch.from_numpy(keypoints_i2.responses).unsqueeze(0).float().to(self.device),
             "image0": empty_image_i1,
             "image1": empty_image_i2,
         }
 
+        if self.model is not None:
+            model = self.model
+        else:
+            model = SuperGlue(self._config).to(self.device).eval()
+
         with torch.no_grad():
             pred = model(input_data)
             matches = pred["matches0"][0].detach().cpu().numpy()
diff --git a/gtsfm/loader/hilti_loader.py b/gtsfm/loader/hilti_loader.py
index d6e8114d9..dbdd106e2 100644
--- a/gtsfm/loader/hilti_loader.py
+++ b/gtsfm/loader/hilti_loader.py
@@ -20,7 +20,7 @@
 
 import numpy as np
 import gtsam
-from gtsam import Cal3Fisheye, Pose3
+from gtsam import Cal3Fisheye, Pose3, Rot3, Point3
 
 import gtsfm.utils.io as io_utils
 import gtsfm.utils.logger as logger_utils
@@ -41,13 +41,15 @@
     4: "calib_3_cam4-camchain-imucam.yaml",
 }
 
+GT_POSE_RELATIVE_PATH = "lidar/fastlio2_odom.txt"
 LIDAR_POSE_RELATIVE_PATH = "lidar/fastlio2.g2o"
 LIDAR_CONSTRAINTS_RELATIVE_PATH = "lidar/constraints.txt"
 IMAGES_FOLDER = "images"
 
-HARD_RELATIVE_POSE_PRIOR_SIGMA = np.ones((6,)) * 1e-3  # CAM_IMU_POSE_PRIOR_SIGMA in BA should have similar value
-SOFT_RELATIVE_POSE_PRIOR_SIGMA = np.ones((6,)) * 3e-2
-SOFT_ABSOLUTE_POSE_PRIOR_SIGMA = np.ones((6,)) * 3e-2
+# TODO: tune the priors, particularly the translation component of the CAM2_BACKBONE prior.
+HARD_POSE_PRIOR_COVARIANCE = np.eye(6) * 1e-8
+STATIONARY_POSE_PRIOR_COVARIANCE = np.eye(6) * 1e-7
+CAM2_BACKBONE_POSE_PRIOR_COVARIANCE = np.diag(np.array([np.deg2rad(30.0), np.deg2rad(30.0), np.deg2rad(30.0), 1, 1, 1]))
 
 
 class HiltiLoader(LoaderBase):
@@ -56,18 +58,24 @@ def __init__(
         base_folder: str,
         max_length: Optional[int] = None,
         max_resolution: int = 1080,
+        subsample: int = 1,
+        add_backbone: bool = True,
     ) -> None:
         """Initializes, loads calibration, constraints, and pose priors.
 
         Args:
-            base_folder (str): top-level folder, expects calibration, images and lidar subfolders.
-            max_length (Optional[int]): limit poses to read. Defaults to None.
+            base_folder: top-level folder, expects calibration, images and lidar subfolders.
+            max_length: limit poses to read. Defaults to None.
             max_resolution: integer representing maximum length of image's short side
                e.g. for 1080p (1920 x 1080), max_resolution would be 1080
+            subsample: subsample along the time axis, default 1 (none).
+            add_backbone: add a backbone of soft constraints for CAM2-CAM2 pairs.
         """
         super().__init__(max_resolution)
         self._base_folder: Path = Path(base_folder)
         self._max_length = max_length
+        self._subsample = subsample
+        self._add_backbone = add_backbone
 
         # Load calibration.
         self._intrinsics: Dict[int, Cal3Fisheye] = {}
@@ -77,29 +85,119 @@ def __init__(
             self._intrinsics[cam_idx] = calibration[0]
             self._cam_T_imu_poses[cam_idx] = calibration[1]
 
+        # Jacobian for transforming covariance
+        self._cam2_J_imu_relative: np.array = self._cam_T_imu_poses[2].AdjointMap()
+
         # Check how many images are on disk.
         self.num_rig_poses: int = self.__get_num_rig_poses()
         if self._max_length is not None:
             self.num_rig_poses = min(self.num_rig_poses, self._max_length)
 
+        # Read GT poses from odom file:
+        self._fastlio_poses = self.__read_fastlio_poses()
+
         # Read the constraints from the lidar/constraints file
-        self.constraints = self.__load_constraints()
-        logger.info("Number of constraints: %d", len(self.constraints))
+        all_constraints = self._load_constraints()
+        logger.info("Number of constraints loaded form disk: %d", len(all_constraints))
+        filtered_constraints = self._covariance_filtered_constraints(all_constraints)
+        filtered_constraints = self._filter_outlier_constraints(filtered_constraints)
+        logger.info("[hilti_loader] Number of outlier-filtered constraints: %d", len(filtered_constraints))
+        filtered_constraints = self._update_stationary_constraints(filtered_constraints)
+        self._constraints = {(c.a, c.b): c for c in filtered_constraints}  # convert to dictionary
+
+        logger.info("[hilti_loader] Number of constraints: %d", len(self._constraints))
 
         # Read the poses for the IMU for rig indices from g2o file.
         self._w_T_imu: Dict[int, Pose3] = self.__read_lidar_pose_priors()
 
-        logger.info("Loading %d timestamps", self.num_rig_poses)
-        logger.info("Lidar camera available for %d timestamps", len(self._w_T_imu))
+        logger.info("[hilti_loader] Loading %d timestamps", self.num_rig_poses)
+        logger.info("[hilti_loader] Lidar camera available for %d timestamps", len(self._w_T_imu))
 
-    def __load_constraints(self) -> List[Constraint]:
+    def _load_constraints(self) -> List[Constraint]:
+        """Read all constraints but discard any out of the requested max length."""
+        # read constraints
         constraints_path = self._base_folder / LIDAR_CONSTRAINTS_RELATIVE_PATH
         constraints = Constraint.read(str(constraints_path))
-
         # filter them according to max length
-        constraints = list(filter(lambda c: c.a < self.num_rig_poses and c.b < self.num_rig_poses, constraints))
+        return [c for c in constraints if c.a < self.num_rig_poses and c.b < self.num_rig_poses]
+
+    @staticmethod
+    def _check_covariance(constraint: Constraint, overconfidence_threshold=1e-6) -> bool:
+        """Return false if covariance is bad."""
+        cov = constraint.cov
+        if np.isnan(cov).any() or np.min(np.diag(cov)) < overconfidence_threshold:
+            return False
+        try:
+            info = np.linalg.inv(cov)
+            if np.isnan(info).any():
+                return False
+            else:
+                return True
+        except np.linalg.LinAlgError:
+            return False
+
+    @classmethod
+    def _covariance_filtered_constraints(cls, constraints: List[Constraint]) -> List[Constraint]:
+        """Filter constraints to remove those with invalid covariances."""
+        return list(filter(cls._check_covariance, constraints))
+
+    @staticmethod
+    def _update_stationary_constraints(constraints: List[Constraint]) -> List[Constraint]:
+        """Detect stationary periods and replace constraints there with 'hard' identity constraints."""
+        TRANSLATION_THRESHOLD = 0.02
+        ROTATION_THRESHOLD = np.deg2rad(0.5)
+
+        def is_stationary(c: Constraint) -> bool:
+            # Not stationary if either rotation or translation is high enough.
+            return (
+                np.linalg.norm(Rot3.Logmap(c.aTb.rotation())) <= ROTATION_THRESHOLD
+                and np.linalg.norm(c.aTb.translation()) <= TRANSLATION_THRESHOLD
+            )
 
-        return constraints
+        def update(c):
+            return Constraint(c.a, c.b, Pose3(), STATIONARY_POSE_PRIOR_COVARIANCE, c.counts) if is_stationary(c) else c
+
+        updated_constraints = [update(constraint) for constraint in constraints]
+        return updated_constraints
+
+    @staticmethod
+    def _filter_outlier_constraints(constraints: List[Constraint]) -> List[Constraint]:
+        """Removes 1-step constraints for which the translation magnitude is greater than 2 or 3-step constraints."""
+        ERROR_MARGIN = 0.1  # meters
+        ROT_SIGMA = np.deg2rad(60)
+        TRANS_SIGMA = 10  # meters
+        FILTERED_COVARIANCE = np.diag([ROT_SIGMA] * 3 + [TRANS_SIGMA] * 3)
+
+        constraint_magnitudes = {}
+        for constraint in constraints:
+            c, d = min(constraint.a, constraint.b), max(constraint.a, constraint.b)
+            # no need to invert, norm will be the same.
+            constraint_magnitudes[(c, d)] = np.linalg.norm(constraint.aTb.translation())
+
+        def is_higher_step_magnitude_lesser(a, b, all_magnitudes, step_size):
+            c, d = min(a, b), max(a, b)
+            this_magnitude = all_magnitudes[(c, d)]
+            step_magnitude = all_magnitudes[(c, d + step_size)] if (c, d + step_size) in all_magnitudes else None
+            return step_magnitude is not None and this_magnitude - step_magnitude > ERROR_MARGIN
+
+        filtered_constraints = []
+        for constraint in constraints:
+            a, b = constraint.a, constraint.b
+            # Accept all constraint with step > 1
+            if abs(a - b) != 1:
+                filtered_constraints.append(constraint)
+                continue
+            # Do not include if a higher-step magnitude is lesser (for steps of size 2 and 3)
+            if is_higher_step_magnitude_lesser(a, b, constraint_magnitudes, 1) or is_higher_step_magnitude_lesser(
+                a, b, constraint_magnitudes, 2
+            ):
+                filtered_constraints.append(Constraint(a, b, constraint.aTb, FILTERED_COVARIANCE, constraint.counts))
+                continue
+            filtered_constraints.append(constraint)
+        return filtered_constraints
+
+    def get_all_constraints(self) -> List[Constraint]:
+        return list(self._constraints.values())
 
     def get_camTimu(self) -> Dict[int, Pose3]:
         return self._cam_T_imu_poses
@@ -110,7 +208,7 @@ def __read_lidar_pose_priors(self) -> Dict[int, Pose3]:
         _, values = gtsam.readG2o(filepath, is3D=True)
 
         lidar_keys = values.keys()
-        logger.info("Number of keys in g2o file: %d", len(lidar_keys))
+        logger.info("[hilti_loader] Number of keys in g2o file: %d", len(lidar_keys))
 
         w_T_imu: Dict[int, Pose3] = {}
 
@@ -120,12 +218,28 @@ def __read_lidar_pose_priors(self) -> Dict[int, Pose3]:
 
         return w_T_imu
 
+    def __read_fastlio_poses(self) -> List[Pose3]:
+        """Read the poses for the IMU for rig indices."""
+        filepath = str(self._base_folder / GT_POSE_RELATIVE_PATH)
+
+        def pose_of_vector(pose_vector):
+            """Convert from vector to Pose3"""
+            pose_rotation = Rot3(pose_vector[-1], pose_vector[3], pose_vector[4], pose_vector[5])  # from quaternion
+            pose_translation = Point3(pose_vector[:3])
+            return Pose3(pose_rotation, pose_translation)
+
+        poses = np.loadtxt(filepath)[:, 1:]
+        logger.info("[hilti_loader] Read %d poses from %s", poses.shape[0], filepath)
+        return [pose_of_vector(pose) for pose in poses]
+
     def __get_num_rig_poses(self) -> int:
         """Check how many images we have on disk and deduce number of rig poses."""
-        search_path: str = str(self._base_folder / IMAGES_FOLDER / "*.jpg")
-        image_files = glob.glob(search_path)
-        total_num_images = len(image_files)
-        return total_num_images // NUM_CAMS
+        pattern = "*.png"
+        search_path: str = str(self._base_folder / IMAGES_FOLDER / pattern)
+
+        image_fnames = [Path(f).stem for f in glob.glob(search_path)]
+        rig_indices = [int(fname.split("_")[0]) for fname in image_fnames]
+        return max(rig_indices) + 1
 
     def __load_calibration(self, cam_idx: int) -> Tuple[Cal3Fisheye, Pose3]:
         """Load calibration from kalibr files in calibration sub-folder."""
@@ -167,7 +281,7 @@ def __len__(self) -> int:
         """
         return self.num_rig_poses * NUM_CAMS
 
-    def get_image(self, index: int) -> Image:
+    def get_image(self, index: int) -> Optional[Image]:
         return self.get_image_full_res(index)
 
     # def get_image_undistorted(self, index: int) -> Image:
@@ -201,8 +315,8 @@ def get_image_full_res(self, index: int) -> Image:
         Returns:
             Image: the image at the query index.
         """
-        image_path: Path = self._base_folder / IMAGES_FOLDER / f"{index}.jpg"
-
+        filename = f"{self.rig_from_image(index)}_{self.camera_from_image(index)}.png"
+        image_path: Path = self._base_folder / IMAGES_FOLDER / filename
         return io_utils.load_image(str(image_path))
 
     def get_camera_intrinsics(self, index: int) -> Optional[Cal3Fisheye]:
@@ -257,35 +371,38 @@ def get_relative_pose_prior(self, i1: int, i2: int) -> Optional[PosePrior]:
         cam_idx_for_i1: int = self.camera_from_image(i1)
         cam_idx_for_i2: int = self.camera_from_image(i2)
 
-        # TODO(Frank): this should come from constraints?
-
         if rig_idx_for_i1 == rig_idx_for_i2:
             i1_T_imu: Pose3 = self._cam_T_imu_poses[cam_idx_for_i1]
             i2_T_imu: Pose3 = self._cam_T_imu_poses[cam_idx_for_i2]
-            i2Ti1 = i2_T_imu.inverse().between(i1_T_imu.inverse())
-            # TODO: add covariance
-            return PosePrior(value=i2Ti1, covariance=HARD_RELATIVE_POSE_PRIOR_SIGMA, type=PosePriorType.HARD_CONSTRAINT)
-        elif rig_idx_for_i1 in self._w_T_imu and rig_idx_for_i2 in self._w_T_imu:
-            w_T_i1 = self._w_T_imu[rig_idx_for_i1] * self._cam_T_imu_poses[cam_idx_for_i1].inverse()
-            w_T_i2 = self._w_T_imu[rig_idx_for_i2] * self._cam_T_imu_poses[cam_idx_for_i2].inverse()
-            i2Ti1 = w_T_i2.between(w_T_i1)
-            # TODO: add covariance
-            return PosePrior(value=i2Ti1, covariance=SOFT_RELATIVE_POSE_PRIOR_SIGMA, type=PosePriorType.SOFT_CONSTRAINT)
-
-        return None
-
-    def get_absolute_pose_prior(self, idx: int) -> Optional[PosePrior]:
-        rig_idx: int = self.rig_from_image(idx)
-        cam_idx: int = self.camera_from_image(idx)
+            i1Ti2 = i1_T_imu * i2_T_imu.inverse()
+            return PosePrior(value=i1Ti2, covariance=HARD_POSE_PRIOR_COVARIANCE, type=PosePriorType.HARD_CONSTRAINT)
+        elif cam_idx_for_i1 == 2 and cam_idx_for_i2 == 2 and (rig_idx_for_i1, rig_idx_for_i2) in self._constraints:
+            constraint = self._constraints[(rig_idx_for_i1, rig_idx_for_i2)]
+            imui1_T_imui2 = constraint.aTb
+            i1Ti2 = self._cam_T_imu_poses[2] * imui1_T_imui2 * self._cam_T_imu_poses[2].inverse()
+            cov_i1Ti2 = self._cam2_J_imu_relative @ constraint.cov @ self._cam2_J_imu_relative.T
+
+            # Rig is stationary, add a hard constraint.
+            if i1Ti2.equals(Pose3(), 1e-6):
+                return PosePrior(value=i1Ti2, covariance=cov_i1Ti2, type=PosePriorType.HARD_CONSTRAINT)
+
+            return PosePrior(value=i1Ti2, covariance=cov_i1Ti2, type=PosePriorType.SOFT_CONSTRAINT)
+        elif cam_idx_for_i1 == 2 and cam_idx_for_i2 == 2:
+            # CAM2-CAM2 backbone as soft prior
+            w_T_imui1 = self._fastlio_poses[rig_idx_for_i1]
+            w_T_imui2 = self._fastlio_poses[rig_idx_for_i2]
+            imui1_T_imui2 = w_T_imui1.between(w_T_imui2)
+            i1Ti2 = self._cam_T_imu_poses[2] * imui1_T_imui2 * self._cam_T_imu_poses[2].inverse()
 
-        if rig_idx in self._w_T_imu:
-            w_T_cam = self._w_T_imu[rig_idx] * self._cam_T_imu_poses[cam_idx].inverse()
             return PosePrior(
-                value=w_T_cam, covariance=SOFT_ABSOLUTE_POSE_PRIOR_SIGMA, type=PosePriorType.SOFT_CONSTRAINT
+                value=i1Ti2, covariance=CAM2_BACKBONE_POSE_PRIOR_COVARIANCE, type=PosePriorType.SOFT_CONSTRAINT
             )
 
         return None
 
+    def get_absolute_pose_prior(self, idx: int) -> Optional[PosePrior]:
+        return None
+
     def camera_from_image(self, index: int) -> int:
         """Map image index to camera-on-rig index."""
         return index % NUM_CAMS
@@ -298,15 +415,43 @@ def image_from_rig_and_camera(self, rig_index: int, camera_idx: int) -> int:
         """Map image index to rig index."""
         return rig_index * NUM_CAMS + camera_idx
 
-    def get_relative_pose_priors(self, pairs: List[Tuple[int, int]]) -> Dict[Tuple[int, int], PosePrior]:
-        pairs = set(pairs)
+    def get_relative_pose_priors(self) -> Dict[Tuple[int, int], PosePrior]:
+        unique_pairs = set()
         # For every rig index, add a "star" from camera 2 to 0,1,3,4:
-        for rig_index in range(self.num_rig_poses):
+        for rig_index in range(0, self.num_rig_poses, self._subsample):
             camera_2 = self.image_from_rig_and_camera(rig_index, 2)
-            for cam_idx in [0, 1, 3, 4]:
-                pairs.add((camera_2, self.image_from_rig_and_camera(rig_index, cam_idx)))
+            for cam_idx in [0, 1]:
+                unique_pairs.add((self.image_from_rig_and_camera(rig_index, cam_idx), camera_2))
+            for cam_idx in [3, 4]:
+                unique_pairs.add((camera_2, self.image_from_rig_and_camera(rig_index, cam_idx)))
 
-        priors = {pair: self.get_relative_pose_prior(*pair) for pair in pairs}
-        priors = {pair: prior for pair, prior in priors.items() if prior is not None}
+        # Translate all rig level constraints to CAM2-CAM2 constraints
+        for a, b in self._constraints.keys():
+            unique_pairs.add((self.image_from_rig_and_camera(a, 2), self.image_from_rig_and_camera(b, 2)))
+
+        logger.info("Pairs for relative pose before adding backbone: %d", len(unique_pairs))
+        if self._add_backbone:
+            # add the full backbone of CAM2-CAM2 pairs
+            for a in range(self.num_rig_poses - 1):
+                b = a + 1
+                unique_pairs.add((self.image_from_rig_and_camera(a, 2), self.image_from_rig_and_camera(b, 2)))
+
+        logger.info("Pairs for relative pose after adding backbone: %d", len(unique_pairs))
+
+        optional_priors = {pair: self.get_relative_pose_prior(*pair) for pair in unique_pairs}
+        priors = {pair: prior for pair, prior in optional_priors.items() if prior is not None}
 
         return priors
+
+    def get_image_fnames(self) -> List[str]:
+        """Get image name for all the images."""
+        image_fnames = []
+        for i in range(len(self)):
+            if self._old_style:
+                filename = f"{i}.jpg"
+            else:
+                filename = f"{self.rig_from_image(i)}_{self.camera_from_image(i)}.png"
+
+            image_fnames.append(filename)
+
+        return image_fnames
diff --git a/gtsfm/loader/loader_base.py b/gtsfm/loader/loader_base.py
index 47c8a1706..fa341f124 100644
--- a/gtsfm/loader/loader_base.py
+++ b/gtsfm/loader/loader_base.py
@@ -48,7 +48,7 @@ def __len__(self) -> int:
 
     # ignored-abstractmethod
     @abc.abstractmethod
-    def get_image_full_res(self, index: int) -> Image:
+    def get_image_full_res(self, index: int) -> Optional[Image]:
         """Get the image at the given index, at full resolution.
 
         Args:
@@ -212,18 +212,13 @@ def get_relative_pose_prior(self, i1: int, i2: int) -> Optional[PosePrior]:
         """
         return None
 
-    def get_relative_pose_priors(self, pairs: List[Tuple[int, int]]) -> Dict[Tuple[int, int], PosePrior]:
+    def get_relative_pose_priors(self) -> Dict[Tuple[int, int], PosePrior]:
         """Get *all* relative pose priors for i2Ti1
 
-        Args:
-            pairs: all (i1,i2) pairs of image pairs
-
         Returns:
             A dictionary of PosePriors (or None) for all pairs.
         """
-
-        pairs = {pair: self.get_relative_pose_prior(*pair) for pair in pairs}
-        return {pair: prior for pair, prior in pairs.items() if prior is not None}
+        return {}
 
     def get_absolute_pose_prior(self, idx: int) -> Optional[PosePrior]:
         """Get the prior on the pose of camera at idx in the world coordinates.
@@ -281,7 +276,7 @@ def get_gt_cameras(self) -> List[Optional[gtsfm_types.CAMERA_TYPE]]:
         N = len(self)
         return [self.get_camera(i) for i in range(N)]
 
-    def get_image_shapes(self) -> List[Tuple[int,int]]:
+    def get_image_shapes(self) -> List[Tuple[int, int]]:
         """Return all the image shapes.
 
         Returns:
@@ -290,6 +285,11 @@ def get_image_shapes(self) -> List[Tuple[int,int]]:
         N = len(self)
         return [self.get_image_shape(i) for i in range(N)]
 
+    def get_image_fnames(self) -> List[str]:
+        """Returns the name of all images."""
+
+        return [self.get_image(i).file_name for i in range(len(self))]
+
     def get_valid_pairs(self) -> List[Tuple[int, int]]:
         """Get the valid pairs of images for this loader.
 
diff --git a/gtsfm/multi_view_optimizer.py b/gtsfm/multi_view_optimizer.py
index 1aa494290..e136945f2 100644
--- a/gtsfm/multi_view_optimizer.py
+++ b/gtsfm/multi_view_optimizer.py
@@ -2,11 +2,12 @@
 
 Authors: Ayush Baid, John Lambert
 """
-from typing import Dict, List, Optional, Tuple
+from typing import Dict, List, Optional, Tuple, Mapping, Union
 
 import dask
+import numpy as np
 from dask.delayed import Delayed
-from gtsam import Point3, Pose3, Rot3
+from gtsam import Pose3, Rot3, Unit3
 
 import gtsfm.common.types as gtsfm_types
 import gtsfm.utils.graph as graph_utils
@@ -15,7 +16,7 @@
 from gtsfm.bundle.bundle_adjustment import BundleAdjustmentOptimizer
 from gtsfm.common.pose_prior import PosePrior
 from gtsfm.data_association.data_assoc import DataAssociation
-from gtsfm.evaluation.metrics import GtsfmMetricsGroup
+from gtsfm.pose_slam.pose_slam import PoseSlam
 from gtsfm.two_view_estimator import TwoViewEstimationReport
 from gtsfm.view_graph_estimator.view_graph_estimator_base import ViewGraphEstimatorBase
 
@@ -28,118 +29,126 @@ def __init__(
         data_association_module: DataAssociation,
         bundle_adjustment_module: BundleAdjustmentOptimizer,
         view_graph_estimator: Optional[ViewGraphEstimatorBase] = None,
+        use_pose_slam_initialization: bool = False,
     ) -> None:
         self.view_graph_estimator = view_graph_estimator
+        self.pose_slam_module = PoseSlam()
         self.rot_avg_module = rot_avg_module
         self.trans_avg_module = trans_avg_module
         self.data_association_module = data_association_module
         self.ba_optimizer = bundle_adjustment_module
-        self._run_view_graph_estimator: bool = self.view_graph_estimator is not None
+        self._use_pose_slam_initialization = use_pose_slam_initialization
 
     def create_computation_graph(
         self,
-        images_graph: List[Delayed],
         num_images: int,
-        keypoints_graph: List[Delayed],
-        i2Ri1_graph: Dict[Tuple[int, int], Delayed],
-        i2Ui1_graph: Dict[Tuple[int, int], Delayed],
-        v_corr_idxs_graph: Dict[Tuple[int, int], Delayed],
+        delayed_keypoints: List[Delayed],
+        delayed_i2Ri1s: Mapping[Tuple[int, int], Union[Delayed, Optional[Rot3]]],
+        delayed_i2Ui1s: Mapping[Tuple[int, int], Union[Delayed, Optional[Unit3]]],
+        delayed_v_corr_idxs: Mapping[Tuple[int, int], Union[Delayed, Optional[np.ndarray]]],
         all_intrinsics: List[Optional[gtsfm_types.CALIBRATION_TYPE]],
         absolute_pose_priors: List[Optional[PosePrior]],
         relative_pose_priors: Dict[Tuple[int, int], PosePrior],
         two_view_reports_dict: Optional[Dict[Tuple[int, int], TwoViewEstimationReport]],
         cameras_gt: List[Optional[gtsfm_types.CAMERA_TYPE]],
         gt_wTi_list: List[Optional[Pose3]],
-    ) -> Tuple[Delayed, Delayed, Delayed, list]:
+        images_graph: Optional[List[Delayed]] = None,
+    ) -> Tuple[Delayed, Delayed, Delayed, List[Delayed]]:
         """Creates a computation graph for multi-view optimization.
 
         Args:
             num_images: number of images in the scene.
-            keypoints_graph: keypoints for images, each wrapped up as Delayed.
-            i2Ri1_graph: relative rotations for image pairs, each value wrapped up as Delayed.
-            i2Ui1_graph: relative unit-translations for image pairs, each value wrapped up as Delayed.
-            v_corr_idxs_graph: indices of verified correspondences for image pairs, wrapped up as Delayed.
+            delayed_keypoints: keypoints for images, each wrapped up as Delayed.
+            delayed_i2Ri1s: relative rotations for image pairs, each value wrapped up as Delayed.
+            delayed_i2Ui1s: relative unit-translations for image pairs, each value wrapped up as Delayed.
+            delayed_v_corr_idxs: indices of verified correspondences for image pairs, wrapped up as Delayed.
             all_intrinsics: intrinsics for images.
-            absolute_pose_priors: priors on the camera poses (not delayed).
-            relative_pose_priors: priors on the pose between camera pairs (not delayed)
-            two_view_reports_dict: Dict of TwoViewEstimationReports after inlier support processor.
+            absolute_pose_priors: priors on the camera poses.
+            relative_pose_priors: priors on the pose between camera pairs.
+            two_view_reports_dict:
             cameras_gt: list of GT cameras (if they exist), ordered by camera index.
             gt_wTi_list: list of GT poses of the camera.
+            images_graph (optional): list of images. Defaults to None.
 
         Returns:
-            The GtsfmData input to bundle adjustment, aligned to GT (if provided), wrapped up as Delayed.
+            The GtsfmData input to bundle adjustment, wrapped up as Delayed.
             The final output GtsfmData, wrapped up as Delayed.
-            Dict of TwoViewEstimationReports after view graph estimation.
             List of GtsfmMetricGroups from different modules, wrapped up as Delayed.
         """
+        metrics = []
 
-        if self._run_view_graph_estimator and self.view_graph_estimator is not None:
+        if self.view_graph_estimator is not None:
             (
-                viewgraph_i2Ri1_graph,
-                viewgraph_i2Ui1_graph,
-                viewgraph_v_corr_idxs_graph,
-                viewgraph_two_view_reports_graph,
-                viewgraph_estimation_metrics,
+                viewgraph_i2Ri1s,
+                viewgraph_i2Ui1s,
+                viewgraph_v_corr_idxs,
+                viewgraph_twoview_reports,
+                viewgraph_metrics,
             ) = self.view_graph_estimator.create_computation_graph(
-                i2Ri1_graph, i2Ui1_graph, all_intrinsics, v_corr_idxs_graph, keypoints_graph, two_view_reports_dict
+                delayed_i2Ri1s,
+                delayed_i2Ui1s,
+                all_intrinsics,
+                delayed_v_corr_idxs,
+                delayed_keypoints,
+                two_view_reports_dict,
             )
+            metrics += [viewgraph_metrics]
         else:
-            viewgraph_i2Ri1_graph = dask.delayed(i2Ri1_graph)
-            viewgraph_i2Ui1_graph = dask.delayed(i2Ui1_graph)
-            viewgraph_v_corr_idxs_graph = dask.delayed(v_corr_idxs_graph)
-            viewgraph_two_view_reports_graph = dask.delayed(two_view_reports_dict)
-            viewgraph_estimation_metrics = dask.delayed(GtsfmMetricsGroup("view_graph_estimation_metrics", []))
-
-        # prune the graph to a single connected component.
-        pruned_i2Ri1_graph, pruned_i2Ui1_graph = dask.delayed(graph_utils.prune_to_largest_connected_component, nout=2)(
-            viewgraph_i2Ri1_graph, viewgraph_i2Ui1_graph, relative_pose_priors
-        )
+            viewgraph_i2Ri1s = delayed_i2Ri1s
+            viewgraph_i2Ui1s = delayed_i2Ui1s
+            viewgraph_v_corr_idxs = delayed_v_corr_idxs
+            viewgraph_twoview_reports = two_view_reports_dict
 
-        delayed_wRi, rot_avg_metrics = self.rot_avg_module.create_computation_graph(
-            num_images, pruned_i2Ri1_graph, i2Ti1_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list
+        pruned_i2Ri1s, pruned_i2Ui1s = dask.delayed(graph_utils.prune_to_largest_connected_component, nout=2)(
+            viewgraph_i2Ri1s, viewgraph_i2Ui1s, relative_pose_priors
         )
 
-        wti_graph, ta_metrics = self.trans_avg_module.create_computation_graph(
-            num_images,
-            pruned_i2Ui1_graph,
-            delayed_wRi,
-            absolute_pose_priors,
-            relative_pose_priors,
-            gt_wTi_list=gt_wTi_list,
-        )
-        init_cameras_graph = dask.delayed(init_cameras)(delayed_wRi, wti_graph, all_intrinsics)
+        if self._use_pose_slam_initialization:
+            delayed_poses, pose_slam_metrics = self.pose_slam_module.create_computation_graph(
+                num_images, relative_pose_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list
+            )
+            metrics.append(pose_slam_metrics)
+        else:
+            delayed_wRi, rot_avg_metrics = self.rot_avg_module.create_computation_graph(
+                num_images, pruned_i2Ri1s, relative_pose_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list
+            )
 
-        ba_input_graph, data_assoc_metrics_graph = self.data_association_module.create_computation_graph(
+            delayed_poses, ta_metrics = self.trans_avg_module.create_computation_graph(
+                num_images,
+                pruned_i2Ui1s,
+                delayed_wRi,
+                absolute_pose_priors,
+                relative_pose_priors,
+                gt_wTi_list=gt_wTi_list,
+            )
+            metrics += [rot_avg_metrics, ta_metrics]
+
+        initialized_cameras = dask.delayed(init_cameras)(delayed_poses, all_intrinsics)
+
+        ba_input, da_metrics = self.data_association_module.create_computation_graph(
             num_images,
-            init_cameras_graph,
-            viewgraph_v_corr_idxs_graph,
-            keypoints_graph,
+            initialized_cameras,
+            viewgraph_v_corr_idxs,
+            delayed_keypoints,
             cameras_gt,
             relative_pose_priors,
             images_graph,
         )
 
-        ba_result_graph, ba_metrics_graph = self.ba_optimizer.create_computation_graph(
-            ba_input_graph, absolute_pose_priors, relative_pose_priors, cameras_gt
+        ba_output, ba_metrics = self.ba_optimizer.create_computation_graph(
+            ba_input, absolute_pose_priors, relative_pose_priors, cameras_gt
         )
 
-        multiview_optimizer_metrics_graph = [
-            viewgraph_estimation_metrics,
-            rot_avg_metrics,
-            ta_metrics,
-            data_assoc_metrics_graph,
-            ba_metrics_graph,
+        metrics += [
+            da_metrics,
+            ba_metrics,
         ]
 
-        # align the sparse multi-view estimate before BA to the ground truth pose graph.
-        ba_input_graph = dask.delayed(ba_input_graph.align_via_Sim3_to_poses)(gt_wTi_list)
-
-        return ba_input_graph, ba_result_graph, viewgraph_two_view_reports_graph, multiview_optimizer_metrics_graph
+        return ba_input, ba_output, viewgraph_twoview_reports, metrics
 
 
 def init_cameras(
-    wRi_list: List[Optional[Rot3]],
-    wti_list: List[Optional[Point3]],
+    wTi_list: List[Optional[Pose3]],
     intrinsics_list: List[gtsfm_types.CALIBRATION_TYPE],
 ) -> Dict[int, gtsfm_types.CAMERA_TYPE]:
     """Generate camera from valid rotations and unit-translations.
@@ -152,11 +161,5 @@ def init_cameras(
     Returns:
         Valid cameras.
     """
-    cameras = {}
-
     camera_class = gtsfm_types.get_camera_class_for_calibration(intrinsics_list[0])
-    for idx, (wRi, wti) in enumerate(zip(wRi_list, wti_list)):
-        if wRi is not None and wti is not None:
-            cameras[idx] = camera_class(Pose3(wRi, wti), intrinsics_list[idx])
-
-    return cameras
+    return {idx: camera_class(wTi, intrinsics_list[idx]) for idx, wTi in enumerate(wTi_list) if wTi is not None}
diff --git a/gtsfm/pose_slam/pose_slam.py b/gtsfm/pose_slam/pose_slam.py
new file mode 100644
index 000000000..156c2de4c
--- /dev/null
+++ b/gtsfm/pose_slam/pose_slam.py
@@ -0,0 +1,90 @@
+"""Pose SLAM initialization module from relative pose priors.
+
+Authors: Akshay Krishnan, Frank Dellaert
+"""
+
+from typing import Dict, List, Optional, Tuple
+
+import dask
+import gtsam
+from dask.delayed import Delayed
+from gtsam import Pose3
+
+import gtsfm.utils.logger as logger_utils
+from gtsfm.common.pose_prior import PosePrior
+from gtsfm.evaluation.metrics import GtsfmMetric, GtsfmMetricsGroup
+
+PRIOR_NOISE_SIGMAS = [0.001, 0.001, 0.001, 0.1, 0.1, 0.1]
+POSE_PRIOR_NOISE = gtsam.noiseModel.Diagonal.Sigmas(PRIOR_NOISE_SIGMAS)
+
+logger = logger_utils.get_logger()
+
+
+class PoseSlam:
+    """Initializes using PoseSLAM given relative pose priors."""
+
+    def run_pose_slam(
+        self,
+        num_images: int,
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {},
+        gt_wTi_list: Optional[List[Optional[Pose3]]] = None,
+    ) -> Tuple[List[Optional[Pose3]], Optional[GtsfmMetricsGroup]]:
+        """Run the translation averaging.
+
+        Args:
+            num_images: number of camera poses.
+            relative_pose_priors: priors on the pose between camera pairs as (i1, i2): i1Ti2.
+            gt_wTi_list: List of ground truth poses (wTi) for computing metrics.
+
+        Returns:
+            List of Optional[Pose3],
+            GtsfmMetricsGroup of 1DSfM metrics.
+        """
+        logger.info("Running Pose SLAM intilialization")
+        pose_init_graph = gtsam.NonlinearFactorGraph()
+
+        for (i1, i2), i1Ti2_prior in relative_pose_priors.items():
+            pose_init_graph.push_back(
+                gtsam.BetweenFactorPose3(
+                    i1,
+                    i2,
+                    i1Ti2_prior.value,
+                    gtsam.noiseModel.Gaussian.Covariance(i1Ti2_prior.covariance),
+                )
+            )
+
+        pose_init_graph.push_back(gtsam.PriorFactorPose3(0, Pose3(), POSE_PRIOR_NOISE))
+
+        initial_values = gtsam.InitializePose3.initialize(pose_init_graph)
+        initial_error = pose_init_graph.error(initial_values)
+        logger.info(f"Initialization complete with error: {initial_error}")
+        optimizer = gtsam.LevenbergMarquardtOptimizer(pose_init_graph, initial_values)
+        result = optimizer.optimizeSafely()
+
+        poses = [result.atPose3(i) if result.exists(i) else None for i in range(num_images)]
+        final_error = pose_init_graph.error(result)
+        logger.info(f"Optimization complete with error: {final_error}")
+
+        # TODO: add metrics which are on par with the averaging metrics
+        return poses, GtsfmMetricsGroup(
+            "pose_slam_metrics", [GtsfmMetric("intial_error", initial_error), GtsfmMetric("final_error", final_error)]
+        )
+
+    def create_computation_graph(
+        self,
+        num_images: int,
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
+        gt_wTi_list: Optional[List[Optional[Pose3]]] = None,
+    ) -> Tuple[Delayed, Delayed]:
+        """Create the computation graph for performing translation averaging.
+
+        Args:
+            num_images: number of camera poses.
+            relative_pose_priors: priors on the pose between camera pairs (not delayed).
+            gt_wTi_list: List of ground truth poses (wTi) for computing metrics.
+
+        Returns:
+            List of Optional[Pose3], wrapped as Delayed
+            GtsfmMetricsGroup of 1DSfM metrics, wrapped as Delayed
+        """
+        return dask.delayed(self.run_pose_slam, nout=2)(num_images, relative_pose_priors, gt_wTi_list)
diff --git a/gtsfm/retriever/rig_retriever.py b/gtsfm/retriever/rig_retriever.py
index d2c9f484c..04d36bcf4 100644
--- a/gtsfm/retriever/rig_retriever.py
+++ b/gtsfm/retriever/rig_retriever.py
@@ -4,9 +4,11 @@
 """
 
 from typing import List, Tuple
+
 from gtsfm.loader.hilti_loader import HiltiLoader
 
 import gtsfm.utils.logger as logger_utils
+from gtsfm.common.constraint import Constraint
 from gtsfm.loader.loader_base import LoaderBase
 from gtsfm.retriever.retriever_base import RetrieverBase
 
@@ -20,16 +22,23 @@
 class RigRetriever(RetrieverBase):
     """Retriever for camera rigs inspired by the Hilti challenge."""
 
-    def __init__(self, threshold: int = 100):
+    def __init__(self, subsample: int, threshold: int = 100):
         """Create RigRetriever
 
         Args:
             threshold (int, optional): amount of "proxy" correspondences that will trigger an image-pair. Default 100.
         """
+        self._subsample = subsample
         self._threshold = threshold
 
+    def __accept_constraint(self, constraint: Constraint) -> bool:
+        if not self._subsample:
+            return True
+
+        return constraint.a % self._subsample == 0 and constraint.b % self._subsample == 0
+
     def run(self, loader: LoaderBase) -> List[Tuple[int, int]]:
-        """Compute potential image pairs.
+        """Compute potential image pairs for *visual matching*.
 
         Args:
             loader: image loader.
@@ -39,35 +48,37 @@ def run(self, loader: LoaderBase) -> List[Tuple[int, int]]:
         """
         # Get between-rig constraints from HiltiLoader.
         assert isinstance(loader, HiltiLoader)
-        constraints = loader.constraints
+        constraints: List[Constraint] = loader.get_all_constraints()
 
         # Get pairs from those constraints.
-        pairs = set(sum([c.predicted_pairs(self._threshold) for c in constraints], []))
+        unique_pairs = set(
+            sum([c.predicted_pairs(self._threshold) for c in constraints if self.__accept_constraint(c)], [])
+        )
+
+        num_cam2_pairs = list(filter(lambda edge: edge[0] % 5 == 2 or edge[1] % 5 == 2, unique_pairs))
 
-        num_cam2_pairs = list(filter(lambda edge: edge[0] % 5 == 2 or edge[1] % 5 == 2, pairs))
+        logger.info("Received %d constraints from loader", len(constraints))
+        logger.info("Found %d pairs in the constraints file", len(unique_pairs))
+        logger.info("Found %d pairs with cam2 in the constraints file", len(num_cam2_pairs))
 
-        logger.info("Found %d pairs from the constraints file", len(pairs))
-        logger.info("Found %d pairs with cam2 from the constraints file", len(num_cam2_pairs))
+        # Translate all rig level constraints to CAM2-CAM2 constraints
+        for constraint in constraints:
+            if not self.__accept_constraint(constraint):
+                continue
+            a = constraint.a
+            b = constraint.b
+
+            unique_pairs.add((loader.image_from_rig_and_camera(a, 2), loader.image_from_rig_and_camera(b, 2)))
 
         # Add all intra-rig pairs even if no LIDAR signal.
-        # Add all inter frames CAM2 pairs
-        for rig_index in range(loader.num_rig_poses):
+        for rig_index in range(0, loader.num_rig_poses, self._subsample if self._subsample else 1):
             for c1, c2 in INTRA_RIG_VALID_PAIRS:
-                pairs.add(
+                unique_pairs.add(
                     (loader.image_from_rig_and_camera(rig_index, c1), loader.image_from_rig_and_camera(rig_index, c2))
                 )
-            for next_rig_idx in range(rig_index + 1, min(rig_index + 1 + CAM2_FRAME_LOOKAHEAD, loader.num_rig_poses)):
-                pairs.add(
-                    (loader.image_from_rig_and_camera(rig_index, 2), loader.image_from_rig_and_camera(next_rig_idx, 2))
-                )
 
-        pairs = list(pairs)
+        pairs = list(unique_pairs)
         pairs.sort()
 
-        # check on pairs
-        for i1, i2 in pairs:
-            if i1 > i2:
-                raise ValueError("Ordering not imposed on i1, i2")
-
-        logger.info("Found %d pairs from the RigRetriever", len(pairs))
+        logger.info("RigRetriever finally created %d pairs.", len(pairs))
         return pairs
diff --git a/gtsfm/runner/frontend_runner.py b/gtsfm/runner/frontend_runner.py
index 1a6f646e9..ca1157519 100644
--- a/gtsfm/runner/frontend_runner.py
+++ b/gtsfm/runner/frontend_runner.py
@@ -41,35 +41,38 @@ def run_frontend(
     image_shapes = loader.get_image_shapes()
 
     # detection and description graph
-    keypoints_graph_list = []
-    descriptors_graph_list = []
+    keypoints_list = []
+    descriptors_list = []
     for delayed_image in image_graph:
         delayed_dets, delayed_descs = feature_extractor.create_computation_graph(delayed_image)
-        keypoints_graph_list += [delayed_dets]
-        descriptors_graph_list += [delayed_descs]
+        keypoints_list += [delayed_dets]
+        descriptors_list += [delayed_descs]
 
     # estimate two-view geometry and get indices of verified correspondences.
-    i2Ri1_graph_dict = {}
-    i2Ui1_graph_dict = {}
-    v_corr_idxs_graph_dict: Dict[Tuple[int, int], Delayed] = {}
-    for (i1, i2) in image_pair_indices:
-        (i2Ri1, i2Ui1, v_corr_idxs, two_view_report) = two_view_estimator.create_computation_graph(
-            keypoints_i1_graph=keypoints_graph_list[i1],
-            keypoints_i2_graph=keypoints_graph_list[i2],
-            descriptors_i1_graph=descriptors_graph_list[i1],
-            descriptors_i2_graph=descriptors_graph_list[i2],
+    i2Ri1_dict = {}
+    i2Ui1_dict = {}
+    v_corr_idxs_dict: Dict[Tuple[int, int], Delayed] = {}
+    for i1, i2 in image_pair_indices:
+        i2Ri1, i2Ui1, v_corr_idxs, _ = two_view_estimator.create_computation_graph(
+            keypoints_i1=keypoints_list[i1],
+            keypoints_i2=keypoints_list[i2],
+            descriptors_i1=descriptors_list[i1],
+            descriptors_i2=descriptors_list[i2],
             camera_intrinsics_i1=camera_intrinsics[i1],
             camera_intrinsics_i2=camera_intrinsics[i2],
             im_shape_i1=image_shapes[i1],
             im_shape_i2=image_shapes[i2],
+            i2Ti1_prior=None,
+            gt_wTi1=loader.get_camera_pose(i1),
+            gt_wTi2=loader.get_camera_pose(i2),
         )
-        i2Ri1_graph_dict[(i1, i2)] = i2Ri1
-        i2Ui1_graph_dict[(i1, i2)] = i2Ui1
-        v_corr_idxs_graph_dict[(i1, i2)] = v_corr_idxs
+        i2Ri1_dict[(i1, i2)] = i2Ri1
+        i2Ui1_dict[(i1, i2)] = i2Ui1
+        v_corr_idxs_dict[(i1, i2)] = v_corr_idxs
 
     with dask.config.set(scheduler="single-threaded"):
         keypoints_list, i2Ri1_dict, i2Ui1_dict, v_corr_idxs_dict = dask.compute(
-            keypoints_graph_list, i2Ri1_graph_dict, i2Ui1_graph_dict, v_corr_idxs_graph_dict
+            keypoints_list, i2Ri1_dict, i2Ui1_dict, v_corr_idxs_dict
         )
 
     return keypoints_list, i2Ri1_dict, i2Ui1_dict, v_corr_idxs_dict
diff --git a/gtsfm/runner/gtsfm_runner_base.py b/gtsfm/runner/gtsfm_runner_base.py
index 9eb648ccb..bbe6ba1f8 100644
--- a/gtsfm/runner/gtsfm_runner_base.py
+++ b/gtsfm/runner/gtsfm_runner_base.py
@@ -113,7 +113,7 @@ def construct_retriever(self):
             retriever = SequentialHiltiRetriever(max_frame_lookahead=self.parsed_args.max_frame_lookahead)
 
         elif matching_regime == ImageMatchingRegime.RIG_HILTI:
-            retriever = RigRetriever(threshold=self.parsed_args.proxy_threshold)
+            retriever = RigRetriever(threshold=self.parsed_args.proxy_threshold, subsample=self.parsed_args.subsample)
 
         return retriever
 
@@ -131,20 +131,16 @@ def run(self) -> None:
             image_pair_indices = pairs_graph.compute()
 
         delayed_sfm_result, delayed_io = self.scene_optimizer.create_computation_graph(
-            num_images=len(self.loader),
+            self.loader,
+            self.loader.create_computation_graph_for_images(),
             image_pair_indices=image_pair_indices,
-            image_graph=self.loader.create_computation_graph_for_images(),
-            all_intrinsics=self.loader.get_all_intrinsics(),
-            image_shapes=self.loader.get_image_shapes(),
-            relative_pose_priors=self.loader.get_relative_pose_priors(image_pair_indices),
             absolute_pose_priors=self.loader.get_absolute_pose_priors(),
-            cameras_gt=self.loader.get_gt_cameras(),
-            gt_wTi_list=self.loader.get_gt_poses(),
+            relative_pose_priors=self.loader.get_relative_pose_priors(),
             matching_regime=ImageMatchingRegime(self.parsed_args.matching_regime),
         )
 
         with Client(cluster), performance_report(filename="dask-report.html"):
-            sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io)
+            sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io.values())
 
         assert isinstance(sfm_result, GtsfmData)
 
diff --git a/gtsfm/runner/run_full_hilti_nodask.py b/gtsfm/runner/run_full_hilti_nodask.py
new file mode 100644
index 000000000..cda8d9600
--- /dev/null
+++ b/gtsfm/runner/run_full_hilti_nodask.py
@@ -0,0 +1,242 @@
+"""Run front-end on the hilti dataset without using Dask.
+
+Authors: Ayush Baid
+"""
+import time
+from argparse import ArgumentParser, Namespace
+from typing import Dict, Optional, Tuple
+
+import hydra
+import numpy as np
+from hydra.utils import instantiate
+from gtsam import Rot3, Unit3
+
+import gtsfm.utils.graph as graph_utils
+import gtsfm.utils.logger as logger_utils
+from gtsfm.common.keypoints import Keypoints
+from gtsfm.loader.hilti_loader import HiltiLoader
+from gtsfm.retriever.rig_retriever import RigRetriever
+from gtsfm.scene_optimizer import SceneOptimizer, save_gtsfm_data, save_metrics_reports, save_visualizations
+from gtsfm.multi_view_optimizer import init_cameras
+
+
+logger = logger_utils.get_logger()
+
+
+class HiltiRunner:
+    def __init__(self) -> None:
+        argparser: ArgumentParser = self.construct_argparser()
+        parsed_args: Namespace = argparser.parse_args()
+        self._save_metrics = parsed_args.save_metrics
+        if not self._save_metrics:
+            logger.info("Will not save metrics")
+
+        self.loader = HiltiLoader(
+            base_folder=parsed_args.dataset_dirpath, max_length=parsed_args.max_length, subsample=parsed_args.subsample
+        )
+
+        self.retriever = RigRetriever(subsample=parsed_args.subsample, threshold=parsed_args.proxy_threshold)
+
+        with hydra.initialize_config_module(config_module="gtsfm.configs"):
+            # config is relative to the gtsfm module
+            cfg = hydra.compose(
+                config_name=parsed_args.config_name,
+            )
+            self.scene_optimizer: SceneOptimizer = instantiate(cfg.SceneOptimizer)
+
+    def construct_argparser(self) -> ArgumentParser:
+        parser = ArgumentParser(description="Run frontend for the hilti dataset")
+
+        parser.add_argument(
+            "--dataset_dirpath",
+            type=str,
+            required=True,
+            help="path to directory containing the calibration files and the images",
+        )
+        parser.add_argument(
+            "--config_name",
+            type=str,
+            default="deep_front_end_hilti.yaml",
+            help="Choose the config file",
+        )
+        parser.add_argument(
+            "--proxy_threshold",
+            type=int,
+            default=100,
+            help="amount of 'proxy' correspondences that will trigger an image-pair. Default 100.",
+        )
+        parser.add_argument("--max_length", type=int, default=None, help="Max number of timestamps to process")
+        parser.add_argument(
+            "--subsample",
+            type=int,
+            default=6,
+            help="Subsample the timestamps by given value n (pick every nth rig for visual SfM)",
+        )
+        parser.add_argument("--save_metrics", action="store_true", help="Calculates metrics")
+        return parser
+
+    def run_frontend(
+        self,
+    ) -> Tuple[
+        Dict[int, Keypoints],
+        Dict[Tuple[int, int], Optional[Rot3]],
+        Dict[Tuple[int, int], Optional[Unit3]],
+        Dict[Tuple[int, int], np.ndarray],
+        Dict[int, Tuple[int, int]],
+    ]:
+        start_time = time.time()
+
+        pairs_for_frontend = self.retriever.run(self.loader)
+
+        image_indices_for_feature_extraction = set(sum(pairs_for_frontend, ()))
+        keypoints_dict = {}
+        descriptors_dict = {}
+        image_shapes = {}
+
+        counter = 0
+        for i in image_indices_for_feature_extraction:
+            counter += 1
+            if counter % 20 == 0:
+                logger.info("%d/%d images", counter, len(image_indices_for_feature_extraction))
+
+            image = self.loader.get_image(i)
+            if image is not None:
+                keypoints, descriptors = self.scene_optimizer.feature_extractor.detector_descriptor.detect_and_describe(
+                    image
+                )
+                keypoints_dict[i] = keypoints
+                descriptors_dict[i] = descriptors
+                image_shapes[i] = (image.height, image.width)
+
+        i2Ri1_dict = {}
+        i2Ui1_dict = {}
+        v_corr_idxs_dict = {}
+
+        counter = 0
+        for i1, i2 in pairs_for_frontend:
+            counter += 1
+            if counter % 100 == 0:
+                logger.info("%d/%d pairs", counter, len(pairs_for_frontend))
+            if i1 in keypoints_dict and i2 in keypoints_dict:
+                i2Ri1, i2Ui1, v_corr_idxs = self.scene_optimizer.two_view_estimator.run_2view(
+                    keypoints_i1=keypoints_dict[i1],
+                    keypoints_i2=keypoints_dict[i2],
+                    descriptors_i1=descriptors_dict[i1],
+                    descriptors_i2=descriptors_dict[i2],
+                    camera_intrinsics_i1=self.loader.get_camera_intrinsics(i1),
+                    camera_intrinsics_i2=self.loader.get_camera_intrinsics(i2),
+                    im_shape_i1=image_shapes[i1],
+                    im_shape_i2=image_shapes[i2],
+                    i2Ti1_prior=None,
+                    gt_wTi1=None,
+                    gt_wTi2=None,
+                    gt_scene_mesh=None,
+                )
+
+                i2Ri1_dict[(i1, i2)] = i2Ri1
+                i2Ui1_dict[(i1, i2)] = i2Ui1
+                v_corr_idxs_dict[(i1, i2)] = v_corr_idxs
+
+        end_time = time.time()
+        duration_sec = end_time - start_time
+        logger.info("GTSFM took %.2f minutes to compute frontend.", duration_sec / 60)
+
+        return keypoints_dict, i2Ri1_dict, i2Ui1_dict, v_corr_idxs_dict, image_shapes
+
+    def run_full(self):
+        start_time = time.time()
+
+        metrics = []
+        num_images = len(self.loader)
+        gt_wTi_list = self.loader.get_gt_poses()
+        relative_pose_priors = self.loader.get_relative_pose_priors()
+
+        # If using Pose-SLAM, try running that immediately. No point in continuing if fails.
+        if self.scene_optimizer.multiview_optimizer._use_pose_slam_initialization:
+            wTi_list, pose_slam_metrics = self.scene_optimizer.multiview_optimizer.pose_slam_module.run_pose_slam(
+                num_images=num_images, relative_pose_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list
+            )
+            if self._save_metrics:
+                metrics.append(pose_slam_metrics)
+
+        keypoints_dict, i2Ri1_dict, i2Ui1_dict, v_corr_idxs_dict, image_shapes = self.run_frontend()
+
+        keypoints_list = [keypoints_dict.get(i, Keypoints(np.array([[]]))) for i in range(num_images)]
+        image_shapes_list = [image_shapes.get(i, (100, 100)) for i in range(num_images)]
+
+        pruned_i2Ri1_dict, pruned_i2Ui1_dict = graph_utils.prune_to_largest_connected_component(
+            i2Ri1_dict, i2Ui1_dict, relative_pose_priors
+        )
+
+        absolute_pose_priors = self.loader.get_absolute_pose_priors()
+        
+        # If not using Pose-SLAM, we need to run with constraints from front-end.
+        if not self.scene_optimizer.multiview_optimizer._use_pose_slam_initialization:
+
+            wRi = self.scene_optimizer.multiview_optimizer.rot_avg_module.run_rotation_averaging(
+                num_images, pruned_i2Ri1_dict, relative_pose_priors
+            )
+            rot_avg_metrics = self.scene_optimizer.multiview_optimizer.rot_avg_module.evaluate(
+                wRi_computed=wRi, wTi_gt=gt_wTi_list
+            )
+
+            if self._save_metrics:
+                metrics.append(rot_avg_metrics)
+
+            wTi_list, ta_metrics = self.scene_optimizer.multiview_optimizer.trans_avg_module.run_translation_averaging(
+                num_images=num_images,
+                i2Ui1_dict=pruned_i2Ui1_dict,
+                wRi_list=wRi,
+                absolute_pose_priors=absolute_pose_priors,
+                scale_factor=1,
+                gt_wTi_list=gt_wTi_list,
+            )
+
+            if self._save_metrics:
+                metrics.append(ta_metrics)
+
+        gt_cameras = self.loader.get_gt_cameras()
+        all_intrinsics = self.loader.get_all_intrinsics()
+        initialized_cameras = init_cameras(wTi_list=wTi_list, intrinsics_list=all_intrinsics)
+
+        ba_input, da_metrics = self.scene_optimizer.multiview_optimizer.data_association_module.run_da(
+            num_images=num_images,
+            cameras=initialized_cameras,
+            corr_idxs_dict=v_corr_idxs_dict,
+            keypoints_list=keypoints_list,
+            cameras_gt=gt_cameras,
+            relative_pose_priors=relative_pose_priors,
+            images=None,
+        )
+        if self._save_metrics:
+            metrics.append(da_metrics)
+
+        ba_unfiltered, ba_output, _ = self.scene_optimizer.multiview_optimizer.ba_optimizer.run_ba(
+            initial_data=ba_input,
+            absolute_pose_priors=absolute_pose_priors,
+            relative_pose_priors=relative_pose_priors,
+            verbose=True,
+            intrinsics=all_intrinsics,
+        )
+        save_gtsfm_data(None, image_shapes_list, self.loader.get_image_fnames(), None, ba_output, save_for_react=False)
+
+        ba_metrics = self.scene_optimizer.multiview_optimizer.ba_optimizer.evaluate(
+            ba_unfiltered, ba_output, gt_cameras
+        )
+        if self._save_metrics:
+            metrics.append(ba_metrics)
+
+        if self._save_metrics:
+            ba_input_aligned = ba_input.align_via_Sim3_to_poses(wTi_list_ref=gt_wTi_list)
+            ba_output_aligned = ba_output.align_via_Sim3_to_poses(wTi_list_ref=gt_wTi_list)
+            save_metrics_reports(metrics)
+            save_visualizations(ba_input_aligned, ba_output_aligned, gt_wTi_list)
+
+        end_time = time.time()
+        duration_sec = end_time - start_time
+        logger.info("GTSFM took %.2f minutes to compute sparse multi-view result.", duration_sec / 60)
+
+
+if __name__ == "__main__":
+    runner = HiltiRunner()
+    runner.run_full()
diff --git a/gtsfm/runner/run_scene_optimizer_argoverse.py b/gtsfm/runner/run_scene_optimizer_argoverse.py
index 45f79b326..04b4a6684 100644
--- a/gtsfm/runner/run_scene_optimizer_argoverse.py
+++ b/gtsfm/runner/run_scene_optimizer_argoverse.py
@@ -32,19 +32,16 @@ def run_scene_optimizer(args: argparse.Namespace) -> None:
         )
 
         delayed_sfm_result, delayed_io = scene_optimizer.create_computation_graph(
-            num_images=len(loader),
+            loader,
+            loader.create_computation_graph_for_images(),
             image_pair_indices=loader.get_valid_pairs(),
-            image_graph=loader.create_computation_graph_for_images(),
-            all_intrinsics=loader.get_all_intrinsics(),
-            image_shapes=loader.get_image_shapes(),
-            cameras_gt=loader.get_gt_cameras(),
         )
 
         # create dask client
         cluster = LocalCluster(n_workers=args.num_workers, threads_per_worker=args.threads_per_worker)
 
         with Client(cluster), performance_report(filename="dask-report.html"):
-            sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io)
+            sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io.values())
 
         assert isinstance(sfm_result, GtsfmData)
         scene_avg_reproj_error = sfm_result.get_avg_scene_reprojection_error()
diff --git a/gtsfm/runner/run_scene_optimizer_astronet.py b/gtsfm/runner/run_scene_optimizer_astronet.py
index be6e6aaa6..2ef40f4fd 100644
--- a/gtsfm/runner/run_scene_optimizer_astronet.py
+++ b/gtsfm/runner/run_scene_optimizer_astronet.py
@@ -12,7 +12,6 @@
 from gtsfm.common.gtsfm_data import GtsfmData
 from gtsfm.loader.loader_base import LoaderBase
 from gtsfm.loader.astronet_loader import AstronetLoader
-from gtsfm.retriever.retriever_base import ImageMatchingRegime
 from gtsfm.runner.gtsfm_runner_base import GtsfmRunnerBase
 
 logger = logger_utils.get_logger()
@@ -68,21 +67,16 @@ def run(self) -> None:
 
             # Prepare computation graph.
             delayed_sfm_result, delayed_io = self.scene_optimizer.create_computation_graph(
-                num_images=len(self.loader),
+                self.loader,
+                self.loader.create_computation_graph_for_images(),
                 image_pair_indices=image_pair_indices,
-                image_graph=self.loader.create_computation_graph_for_images(),
-                all_intrinsics=self.loader.get_all_intrinsics(),
-                image_shapes=self.loader.get_image_shapes(),
-                gt_scene_mesh=gt_scene_trimesh_future,
-                cameras_gt=self.loader.get_gt_cameras(),
-                gt_wTi_list=self.loader.get_gt_poses(),
-                matching_regime=ImageMatchingRegime(self.parsed_args.matching_regime),
                 absolute_pose_priors=self.loader.get_absolute_pose_priors(),
-                relative_pose_priors=self.loader.get_relative_pose_priors(image_pair_indices),
+                relative_pose_priors=self.loader.get_relative_pose_priors(),
+                gt_scene_mesh=gt_scene_trimesh_future,
             )
 
             # Run SfM pipeline.
-            sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io)
+            sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io.values())
 
         assert isinstance(sfm_result, GtsfmData)
         logger.info("GTSFM took %.2f minutes to compute sparse multi-view result.", (time.time() - start_time) / 60)
diff --git a/gtsfm/runner/run_scene_optimizer_hilti.py b/gtsfm/runner/run_scene_optimizer_hilti.py
index bb25f31bf..85e9a9dc0 100644
--- a/gtsfm/runner/run_scene_optimizer_hilti.py
+++ b/gtsfm/runner/run_scene_optimizer_hilti.py
@@ -12,7 +12,6 @@
 logger = logger_utils.get_logger()
 
 
-
 class GtsfmRunnerHiltiLoader(GtsfmRunnerBase):
     def __init__(self):
         super(GtsfmRunnerHiltiLoader, self).__init__(tag="GTSFM for the hilti loader")
@@ -34,6 +33,12 @@ def construct_argparser(self) -> argparse.ArgumentParser:
         )
 
         parser.add_argument("--max_length", type=int, default=None, help="Max number of timestamps to process")
+        parser.add_argument(
+            "--subsample",
+            type=int,
+            default=1,
+            help="Subsample the timestamps by given value n (pick every nth rig for visual SfM)",
+        )
 
         return parser
 
@@ -41,6 +46,7 @@ def construct_loader(self) -> LoaderBase:
         loader = HiltiLoader(
             base_folder=self.parsed_args.dataset_dirpath,
             max_length=self.parsed_args.max_length,
+            subsample=self.parsed_args.subsample,
         )
 
         return loader
diff --git a/gtsfm/scene_optimizer.py b/gtsfm/scene_optimizer.py
index eaae81630..caa9ff66c 100644
--- a/gtsfm/scene_optimizer.py
+++ b/gtsfm/scene_optimizer.py
@@ -15,9 +15,8 @@
 from dask.delayed import Delayed
 from gtsfm.common.pose_prior import PosePrior
 
-import gtsfm.common.types as gtsfm_types
 import gtsfm.evaluation.metrics_report as metrics_report
-import gtsfm.two_view_estimator as two_view_estimator
+from gtsfm.loader.loader_base import LoaderBase
 import gtsfm.utils.ellipsoid as ellipsoid_utils
 import gtsfm.utils.io as io_utils
 import gtsfm.utils.logger as logger_utils
@@ -26,6 +25,7 @@
 from gtsfm.common.gtsfm_data import GtsfmData
 from gtsfm.common.image import Image
 from gtsfm.densify.mvs_base import MVSBase
+from gtsfm.evaluation.metrics import GtsfmMetricsGroup
 from gtsfm.feature_extractor import FeatureExtractor
 from gtsfm.multi_view_optimizer import MultiViewOptimizer
 from gtsfm.retriever.retriever_base import ImageMatchingRegime
@@ -40,10 +40,14 @@
 
 matplotlib.use("Agg")
 
+BASE_PATH_ENV_KEY = "GTSFM_BASE_PATH"
+BASE_PATH_STR = os.environ.get(BASE_PATH_ENV_KEY)
+BASE_PATH = Path(BASE_PATH_STR) if BASE_PATH_STR is not None else Path(__file__).resolve().parent.parent
+
 # base paths for storage
-PLOT_BASE_PATH = Path(__file__).resolve().parent.parent / "plots"
-METRICS_PATH = Path(__file__).resolve().parent.parent / "result_metrics"
-RESULTS_PATH = Path(__file__).resolve().parent.parent / "results"
+PLOT_BASE_PATH = BASE_PATH / "plots"
+METRICS_PATH = BASE_PATH / "result_metrics"
+RESULTS_PATH = BASE_PATH / "results"
 
 # plot paths
 PLOT_CORRESPONDENCE_PATH = PLOT_BASE_PATH / "correspondences"
@@ -52,8 +56,8 @@
 MVS_PLY_SAVE_FPATH = RESULTS_PATH / "mvs_output" / "dense_pointcloud.ply"
 
 # Paths to Save Output in React Folders.
-REACT_METRICS_PATH = Path(__file__).resolve().parent.parent / "rtf_vis_tool" / "src" / "result_metrics"
-REACT_RESULTS_PATH = Path(__file__).resolve().parent.parent / "rtf_vis_tool" / "public" / "results"
+REACT_METRICS_PATH = BASE_PATH / "rtf_vis_tool" / "src" / "result_metrics"
+REACT_RESULTS_PATH = BASE_PATH / "rtf_vis_tool" / "public" / "results"
 
 logger = logger_utils.get_logger()
 
@@ -110,12 +114,9 @@ def __init__(
 
     def create_computation_graph_for_frontend(
         self,
+        loader: LoaderBase,
+        images: List[Delayed],
         image_pair_indices: List[Tuple[int, int]],
-        image_graph: List[Delayed],
-        all_intrinsics: List[Optional[gtsfm_types.CALIBRATION_TYPE]],
-        image_shapes: List[Tuple[int, int]],
-        relative_pose_priors: Dict[Tuple[int, int], PosePrior],
-        gt_poses_graph: List[Optional[Pose3]],
         gt_scene_mesh: Optional[Trimesh] = None,
     ) -> Tuple[Dict[Tuple[int, int], Delayed], Dict[Tuple[int, int], Delayed]]:
         """The SceneOptimizer plate calls the FeatureExtractor and TwoViewEstimator plates several times."""
@@ -123,20 +124,24 @@ def create_computation_graph_for_frontend(
         # detection and description graph
         delayed_keypoints = []
         delayed_descriptors = []
-        for delayed_image in image_graph:
+        for delayed_image in images:
             (delayed_dets, delayed_descs) = self.feature_extractor.create_computation_graph(delayed_image)
             delayed_keypoints += [delayed_dets]
             delayed_descriptors += [delayed_descs]
 
         # Estimate two-view geometry and get indices of verified correspondences.
-        i2Ri1_graph_dict = {}
-        i2Ui1_graph_dict = {}
+        i2Ri1_dict = {}
+        i2Ui1_dict = {}
+        all_intrinsics = loader.get_all_intrinsics()
+        image_shapes = loader.get_image_shapes()
+        gt_wTi_list = loader.get_gt_poses()
+        relative_pose_priors = loader.get_relative_pose_priors()
         for (i1, i2) in image_pair_indices:
             # Collect ground truth relative and absolute poses if available.
             # TODO(johnwlambert): decompose this method -- name it as "calling_the_plate()"
 
             # TODO(johnwlambert): decompose this so what happens in the loop is a separate method
-            i2Ri1, i2Ui1, v_corr_idxs, _ = self.two_view_estimator.create_computation_graph(
+            i2Ri1, i2Ui1, _, _ = self.two_view_estimator.create_computation_graph(
                 delayed_keypoints[i1],
                 delayed_keypoints[i2],
                 delayed_descriptors[i1],
@@ -146,53 +151,54 @@ def create_computation_graph_for_frontend(
                 image_shapes[i1],
                 image_shapes[i2],
                 relative_pose_priors[(i1, i2)],
-                gt_poses_graph[i1],
-                gt_poses_graph[i2],
+                gt_wTi_list[i1],
+                gt_wTi_list[i2],
                 gt_scene_mesh,
             )
 
             # Store results.
-            i2Ri1_graph_dict[(i1, i2)] = i2Ri1
-            i2Ui1_graph_dict[(i1, i2)] = i2Ui1
+            i2Ri1_dict[(i1, i2)] = i2Ri1
+            i2Ui1_dict[(i1, i2)] = i2Ui1
 
-        return i2Ri1_graph_dict, i2Ui1_graph_dict
+        return i2Ri1_dict, i2Ui1_dict
 
     def create_computation_graph(
         self,
-        num_images: int,
+        loader: LoaderBase,
+        images: List[Delayed],
         image_pair_indices: List[Tuple[int, int]],
-        image_graph: List[Delayed],
-        all_intrinsics: List[Optional[gtsfm_types.CALIBRATION_TYPE]],
-        image_shapes: List[Tuple[int, int]],
         absolute_pose_priors: List[Optional[PosePrior]],
         relative_pose_priors: Dict[Tuple[int, int], PosePrior],
-        cameras_gt: List[Optional[gtsfm_types.CAMERA_TYPE]],
-        gt_wTi_list: List[Optional[Pose3]],
         gt_scene_mesh: Optional[Trimesh] = None,
         matching_regime: ImageMatchingRegime = ImageMatchingRegime.SEQUENTIAL,
-    ) -> Tuple[Delayed, List[Delayed]]:
+    ) -> Tuple[Delayed, Dict[str, Delayed]]:
         """The SceneOptimizer plate calls the FeatureExtractor and TwoViewEstimator plates several times."""
 
         # auxiliary graph elements for visualizations and saving intermediate data for analysis.
-        delayed_results = []
+        delayed_io: Dict[str, Delayed] = {}
 
         # detection and description graph
         delayed_keypoints = []
         delayed_descriptors = []
-        for delayed_image in image_graph:
+        images = loader.create_computation_graph_for_images()
+        for delayed_image in images:
             (delayed_dets, delayed_descs) = self.feature_extractor.create_computation_graph(delayed_image)
             delayed_keypoints += [delayed_dets]
             delayed_descriptors += [delayed_descs]
 
         # Estimate two-view geometry and get indices of verified correspondences.
-        i2Ri1_graph_dict = {}
-        i2Ui1_graph_dict = {}
-        v_corr_idxs_graph_dict: Dict[Tuple[int, int], Delayed] = {}
+        delayed_i2Ri1s: Dict[Tuple[int, int], Delayed] = {}
+        delayed_i2Ui1s: Dict[Tuple[int, int], Delayed] = {}
+        delayed_v_corr_idxs: Dict[Tuple[int, int], Delayed] = {}
         two_view_reports_dict: Dict[str, Dict[Tuple[int, int], Optional[Delayed]]] = {
             PRE_BA_REPORT_TAG: {},
             POST_BA_REPORT_TAG: {},
             POST_ISP_REPORT_TAG: {},
         }
+        all_intrinsics = loader.get_all_intrinsics()
+        image_shapes = loader.get_image_shapes()
+        gt_wTi_list = loader.get_gt_poses()
+        relative_pose_priors = loader.get_relative_pose_priors()
         for (i1, i2) in image_pair_indices:
             # Collect ground truth relative and absolute poses if available.
             # TODO(johnwlambert): decompose this method -- name it as "calling_the_plate()"
@@ -214,18 +220,18 @@ def create_computation_graph(
             )
 
             # Store results.
-            i2Ri1_graph_dict[(i1, i2)] = i2Ri1
-            i2Ui1_graph_dict[(i1, i2)] = i2Ui1
-            v_corr_idxs_graph_dict[(i1, i2)] = v_corr_idxs
+            delayed_i2Ri1s[(i1, i2)] = i2Ri1
+            delayed_i2Ui1s[(i1, i2)] = i2Ui1
+            delayed_v_corr_idxs[(i1, i2)] = v_corr_idxs
             for token in (PRE_BA_REPORT_TAG, POST_BA_REPORT_TAG, POST_ISP_REPORT_TAG):
                 two_view_reports_dict[token][(i1, i2)] = two_view_reports[token]
 
             # Visualize verified two-view correspondences.
             if self._save_two_view_correspondences_viz:
-                delayed_results.append(
+                delayed_io[f"2view_corr_viz_{i1}_{i2}"].append(
                     dask.delayed(viz_utils.save_twoview_correspondences_viz)(
-                        image_graph[i1],
-                        image_graph[i2],
+                        images[i1],
+                        images[i2],
                         delayed_keypoints[i1],
                         delayed_keypoints[i2],
                         v_corr_idxs,
@@ -234,25 +240,24 @@ def create_computation_graph(
                     )
                 )
 
-        # Note: the MultiviewOptimizer returns BA input and BA output that are aligned to GT via Sim(3).
         (
             ba_input_graph,
             ba_output_graph,
             view_graph_two_view_reports,
             optimizer_metrics_graph,
         ) = self.multiview_optimizer.create_computation_graph(
-            image_graph,
-            num_images,
+            len(loader),
             delayed_keypoints,
-            i2Ri1_graph_dict,
-            i2Ui1_graph_dict,
-            v_corr_idxs_graph_dict,
+            delayed_i2Ri1s,
+            delayed_i2Ui1s,
+            delayed_v_corr_idxs,
             all_intrinsics,
             absolute_pose_priors,
             relative_pose_priors,
             two_view_reports_dict[POST_ISP_REPORT_TAG],
-            cameras_gt,
+            loader.get_gt_cameras(),
             gt_wTi_list,
+            images,
         )
         if view_graph_two_view_reports is not None:
             two_view_reports_dict[VIEWGRAPH_REPORT_TAG] = view_graph_two_view_reports
@@ -261,16 +266,14 @@ def create_computation_graph(
         # TODO(akshay-krishnan): this delays saving the frontend reports until MVO has completed, not ideal.
         metrics_graph_list: List[Delayed] = []
         for tag, report_dict in two_view_reports_dict.items():
-            delayed_results.append(
-                dask.delayed(save_full_frontend_metrics)(
-                    report_dict,
-                    image_graph,
-                    filename="two_view_report_{}.json".format(tag),
-                    matching_regime=matching_regime,
-                )
+            delayed_io["full_frontend_metrics"] = dask.delayed(save_full_frontend_metrics)(
+                report_dict,
+                images,
+                filename="two_view_report_{}.json".format(tag),
+                matching_regime=matching_regime,
             )
             metrics_graph_list.append(
-                dask.delayed(two_view_estimator.aggregate_frontend_metrics)(
+                dask.delayed(metrics_utils.aggregate_frontend_metrics)(
                     report_dict,
                     self._pose_angular_error_thresh,
                     metric_group_name="verifier_summary_{}".format(tag),
@@ -281,19 +284,25 @@ def create_computation_graph(
         if optimizer_metrics_graph is not None:
             metrics_graph_list.extend(optimizer_metrics_graph)
 
+        # TODO: fix this?
         # Modify BA input, BA output, and GT poses to have point clouds and frustums aligned with x,y,z axes.
         ba_input_graph, ba_output_graph, gt_wTi_list = dask.delayed(align_estimated_gtsfm_data, nout=3)(
             ba_input_graph, ba_output_graph, gt_wTi_list
         )
 
         if self._save_3d_viz:
-            delayed_results.extend(save_visualizations(ba_input_graph, ba_output_graph, gt_wTi_list))
+            # TODO: align before viz
+            delayed_io["save_visualizations"] = dask.delayed(save_visualizations)(
+                ba_input_graph, ba_output_graph, gt_wTi_list
+            )
 
         if self._save_gtsfm_data:
-            delayed_results.extend(save_gtsfm_data(image_graph, ba_input_graph, ba_output_graph))
+            delayed_io["save_gtsfm_data"] = dask.delayed(save_gtsfm_data)(
+                images, loader.get_image_shapes(), loader.get_image_fnames(), ba_input_graph, ba_output_graph
+            )
 
         if self._run_dense_optimizer:
-            img_dict_graph = dask.delayed(get_image_dictionary)(image_graph)
+            img_dict_graph = dask.delayed(get_image_dictionary)(images)
             (
                 dense_points_graph,
                 dense_point_colors_graph,
@@ -302,10 +311,8 @@ def create_computation_graph(
             ) = self.dense_multiview_optimizer.create_computation_graph(img_dict_graph, ba_output_graph)
 
             # Cast to string as Open3d cannot use PosixPath's for I/O -- only string file paths are accepted.
-            delayed_results.append(
-                dask.delayed(io_utils.save_point_cloud_as_ply)(
-                    save_fpath=str(MVS_PLY_SAVE_FPATH), points=dense_points_graph, rgb=dense_point_colors_graph
-                )
+            delayed_io["save_point_cloud_as_ply"] = dask.delayed(io_utils.save_point_cloud_as_ply)(
+                save_fpath=str(MVS_PLY_SAVE_FPATH), points=dense_points_graph, rgb=dense_point_colors_graph
             )
 
             # Add metrics for dense reconstruction and voxel downsampling
@@ -315,10 +322,10 @@ def create_computation_graph(
                 metrics_graph_list.append(downsampling_metrics_graph)
 
         # Save metrics to JSON and generate HTML report.
-        delayed_results.extend(save_metrics_reports(metrics_graph_list))
+        delayed_io["save_metrics_reports"] = dask.delayed(save_metrics_reports)(metrics_graph_list)
 
         # return the entry with just the sfm result
-        return ba_output_graph, delayed_results
+        return ba_output_graph, delayed_io
 
 
 def get_image_dictionary(image_list: List[Image]) -> Dict[int, Image]:
@@ -351,95 +358,77 @@ def align_estimated_gtsfm_data(
     return ba_input, ba_output, gt_pose_graph
 
 
-def save_visualizations(
-    ba_input_graph: Delayed, ba_output_graph: Delayed, gt_pose_graph: List[Optional[Delayed]]
-) -> List[Delayed]:
+def save_visualizations(ba_input: GtsfmData, ba_output: GtsfmData, gt_poses: List[Optional[Pose3]]) -> None:
     """Save SfmData before and after bundle adjustment and camera poses for visualization.
 
-    Accepts delayed GtsfmData before and after bundle adjustment, along with GT poses,
-    saves them and returns a delayed object.
+    Note: no alignment is performed in this function.
 
     Args:
         ba_input_graph: Delayed GtsfmData input to bundle adjustment.
         ba_output_graph: Delayed GtsfmData output from bundle adjustment.
         gt_pose_graph: Delayed ground truth poses.
-
-    Returns:
-        A list of Delayed objects after saving the different visualizations.
     """
-    aligned_ba_input_graph = dask.delayed(lambda x, y: x.align_via_Sim3_to_poses(y))(ba_input_graph, gt_pose_graph)
-    aligned_ba_output_graph = dask.delayed(lambda x, y: x.align_via_Sim3_to_poses(y))(ba_output_graph, gt_pose_graph)
-    viz_graph_list = []
-    viz_graph_list.append(dask.delayed(viz_utils.save_sfm_data_viz)(aligned_ba_input_graph, PLOT_BA_INPUT_PATH))
-    viz_graph_list.append(dask.delayed(viz_utils.save_sfm_data_viz)(aligned_ba_output_graph, PLOT_RESULTS_PATH))
-    viz_graph_list.append(
-        dask.delayed(viz_utils.save_camera_poses_viz)(
-            aligned_ba_input_graph, aligned_ba_output_graph, gt_pose_graph, PLOT_RESULTS_PATH
-        )
-    )
-    return viz_graph_list
-
-
-def save_gtsfm_data(image_graph: List[Delayed], ba_input_graph: Delayed, ba_output_graph: Delayed) -> List[Delayed]:
-    """Saves the Gtsfm data before and after bundle adjustment.
+    viz_utils.save_sfm_data_viz(ba_input, str(PLOT_BA_INPUT_PATH))
+    viz_utils.save_sfm_data_viz(ba_output, str(PLOT_BA_INPUT_PATH))
+    viz_utils.save_camera_poses_viz(ba_input, ba_output, gt_poses, str(PLOT_RESULTS_PATH))
+
+
+def save_gtsfm_data(
+    images: Optional[List[Image]],
+    image_shapes: List[Tuple[int, int]],
+    image_fnames: List[str],
+    ba_input: Optional[GtsfmData],
+    ba_output: Optional[GtsfmData],
+    save_for_react=True,
+) -> None:
+    """Saves the Gtsfm data before and after bundle adjustment at RESULTS_PATH and a copy at REACT_RESULTS_PATH
 
     Args:
-        image_graph: input image wrapped as Delayed objects.
-        ba_input_graph: GtsfmData input to bundle adjustment wrapped as Delayed.
-        ba_output_graph: GtsfmData output to bundle adjustment wrapped as Delayed.
-
-    Returns:
-        A list of delayed objects after saving the input and outputs to bundle adjustment.
+        images: list of images (optional).
+        image_shapes: shapes for the images.
+        image_fnames: file names of the images.
+        ba_input: input to bundle adjustment module.
+        ba_output: output to bundle adjustment module.
     """
-    saving_graph_list = []
-    # Save a duplicate in REACT_RESULTS_PATH.
-    for output_dir in [RESULTS_PATH, REACT_RESULTS_PATH]:
-        # Save the input to Bundle Adjustment (from data association).
-        saving_graph_list.append(
-            dask.delayed(io_utils.export_model_as_colmap_text)(
-                ba_input_graph,
-                image_graph,
-                save_dir=os.path.join(output_dir, "ba_input"),
+
+    paths = [RESULTS_PATH]
+    if save_for_react:
+        paths += [REACT_RESULTS_PATH]
+    for output_dir in paths:
+        if ba_input is not None:
+            io_utils.export_model_as_colmap_text(
+                ba_input,
+                image_shapes,
+                image_fnames,
+                images,
+                save_dir=str(output_dir / "ba_input"),
             )
-        )
-        # Save the output of Bundle Adjustment.
-        saving_graph_list.append(
-            dask.delayed(io_utils.export_model_as_colmap_text)(
-                ba_output_graph,
-                image_graph,
-                save_dir=os.path.join(output_dir, "ba_output"),
+        if ba_output is not None:
+            io_utils.export_model_as_colmap_text(
+                ba_output,
+                image_shapes,
+                image_fnames,
+                images,
+                save_dir=str(output_dir / "ba_output"),
             )
-        )
-    return saving_graph_list
 
 
-def save_metrics_reports(metrics_graph_list: List[Delayed]) -> List[Delayed]:
+def save_metrics_reports(metrics_graph_list: List[GtsfmMetricsGroup]) -> None:
     """Saves metrics to JSON and HTML report.
 
     Args:
         metrics_graph: List of GtsfmMetricsGroup from different modules wrapped as Delayed.
-
-    Returns:
-        List of delayed objects after saving metrics.
     """
-    save_metrics_graph_list: List[Delayed] = []
 
     if len(metrics_graph_list) == 0:
-        return save_metrics_graph_list
+        return None
 
     # Save metrics to JSON
-    save_metrics_graph_list.append(dask.delayed(metrics_utils.save_metrics_as_json)(metrics_graph_list, METRICS_PATH))
-    save_metrics_graph_list.append(
-        dask.delayed(metrics_utils.save_metrics_as_json)(metrics_graph_list, REACT_METRICS_PATH)
-    )
-    save_metrics_graph_list.append(
-        dask.delayed(metrics_report.generate_metrics_report_html)(
-            metrics_graph_list,
-            os.path.join(METRICS_PATH, "gtsfm_metrics_report.html"),
-            None,
-        )
+    metrics_utils.save_metrics_as_json(metrics_graph_list, str(METRICS_PATH))
+    metrics_utils.save_metrics_as_json(metrics_graph_list, str(REACT_METRICS_PATH))
+    metrics_report.generate_metrics_report_html(
+        metrics_graph_list, str(METRICS_PATH / "gtsfm_metrics_report.html"), None
     )
-    return save_metrics_graph_list
 
 
 def save_full_frontend_metrics(
diff --git a/gtsfm/two_view_estimator.py b/gtsfm/two_view_estimator.py
index 28bbe48ef..e6a6559bb 100644
--- a/gtsfm/two_view_estimator.py
+++ b/gtsfm/two_view_estimator.py
@@ -34,7 +34,6 @@
 from gtsfm.frontend.inlier_support_processor import InlierSupportProcessor
 from gtsfm.frontend.matcher.matcher_base import MatcherBase
 from gtsfm.frontend.verifier.verifier_base import VerifierBase
-from gtsfm.evaluation.metrics import GtsfmMetric, GtsfmMetricsGroup
 
 
 logger = logger_utils.get_logger()
@@ -207,7 +206,7 @@ def bundle_adjust(
         if i2Ti1_prior is not None:
             relative_pose_prior_for_ba = {(0, 1): i2Ti1_prior}
 
-        _, ba_output, valid_mask = self._ba_optimizer.run(
+        _, ba_output, valid_mask = self._ba_optimizer.run_ba(
             ba_input, absolute_pose_priors=[], relative_pose_priors=relative_pose_prior_for_ba, verbose=False
         )
         valid_corr_idxs = verified_corr_idxs[triangulated_indices][valid_mask]
@@ -248,7 +247,7 @@ def get_corr_metric_dist_threshold(self) -> float:
         """Getter for the distance threshold used in the metric for correct correspondences."""
         return self._corr_metric_dist_threshold
 
-    def run(
+    def run_2view(
         self,
         keypoints_i1: Keypoints,
         keypoints_i2: Keypoints,
@@ -354,7 +353,7 @@ def run(
             post_isp_i2Ui1,
             post_isp_v_corr_idxs,
             post_isp_report,
-        ) = self.processor.run(post_ba_i2Ri1, post_ba_i2Ui1, post_ba_v_corr_idxs, post_ba_report)
+        ) = self.processor.run_inlier_support(post_ba_i2Ri1, post_ba_i2Ui1, post_ba_v_corr_idxs, post_ba_report)
 
         two_view_reports = {
             PRE_BA_REPORT_TAG: pre_ba_report,
@@ -366,32 +365,34 @@ def run(
 
     def create_computation_graph(
         self,
-        keypoints_i1_graph: Delayed,
-        keypoints_i2_graph: Delayed,
-        descriptors_i1_graph: Delayed,
-        descriptors_i2_graph: Delayed,
+        keypoints_i1: Delayed,
+        keypoints_i2: Delayed,
+        descriptors_i1: Delayed,
+        descriptors_i2: Delayed,
         camera_intrinsics_i1: Optional[gtsfm_types.CALIBRATION_TYPE],
         camera_intrinsics_i2: Optional[gtsfm_types.CALIBRATION_TYPE],
         im_shape_i1: Tuple[int, int],
         im_shape_i2: Tuple[int, int],
-        i2Ti1_prior: Optional[PosePrior] = None,
-        gt_wTi1: Optional[Pose3] = None,
-        gt_wTi2: Optional[Pose3] = None,
-        gt_scene_mesh_graph: Optional[Delayed] = None,
+        i2Ti1_prior: Optional[PosePrior],
+        gt_wTi1: Optional[Pose3],
+        gt_wTi2: Optional[Pose3],
+        gt_scene_mesh_graph: Optional[Any] = None,
     ) -> Tuple[Delayed, Delayed, Delayed, Delayed]:
         """Create delayed tasks for matching and verification.
 
         Args:
-            keypoints_i1_graph: keypoints for image i1.
-            keypoints_i2_graph: keypoints for image i2.
-            descriptors_i1_graph: corr. descriptors for image i1.
-            descriptors_i2_graph: corr. descriptors for image i2.
+            keypoints_i1: keypoints for image i1.
+            keypoints_i2: keypoints for image i2.
+            descriptors_i1: corr. descriptors for image i1.
+            descriptors_i2: corr. descriptors for image i2.
             camera_intrinsics_i1: intrinsics for camera i1.
             camera_intrinsics_i2: intrinsics for camera i2.
             im_shape_i1: image shape for image i1.
             im_shape_i2: image shape for image i2.
-            i2Ti1_prior: the prior on relative pose i2Ti1.
-            i2Ti1_expected_graph (optional): ground truth relative pose, used for evaluation if available.
+            i2Ti1_prior (optional): the prior on relative pose i2Ti1.
+            gt_wTi1: ground truth camera pose for i1, to be used for metrics.
+            gt_wTi2: ground truth camera pose for i2, to be used for metrics.
+            gt_scene_mesh_graph: ground truth scene mesh, to be used for metrics.
 
         Returns:
             Computed relative rotation wrapped as Delayed.
@@ -399,11 +400,11 @@ def create_computation_graph(
             Indices of verified correspondences wrapped as Delayed.
             Two-view reports at different stages (pre BA, post BA, and post inlier-support-processor), as a dictionary.
         """
-        return dask.delayed(self.run, nout=4)(
-            keypoints_i1=keypoints_i1_graph,
-            keypoints_i2=keypoints_i2_graph,
-            descriptors_i1=descriptors_i1_graph,
-            descriptors_i2=descriptors_i2_graph,
+        return dask.delayed(self.run_2view, nout=4)(
+            keypoints_i1=keypoints_i1,
+            keypoints_i2=keypoints_i2,
+            descriptors_i1=descriptors_i1,
+            descriptors_i2=descriptors_i2,
             camera_intrinsics_i1=camera_intrinsics_i1,
             camera_intrinsics_i2=camera_intrinsics_i2,
             im_shape_i1=im_shape_i1,
@@ -484,111 +485,3 @@ def compute_relative_pose_metrics(
         return (None, None)
 
     return (R_error_deg, U_error_deg)
-
-
-def aggregate_frontend_metrics(
-    two_view_reports_dict: Dict[Tuple[int, int], Optional[TwoViewEstimationReport]],
-    angular_err_threshold_deg: float,
-    metric_group_name: str,
-) -> None:
-    """Aggregate the front-end metrics to log summary statistics.
-
-    We define "pose error" as the maximum of the angular errors in rotation and translation, per:
-        SuperGlue, CVPR 2020: https://arxiv.org/pdf/1911.11763.pdf
-        Learning to find good correspondences. CVPR 2018:
-        OA-Net, ICCV 2019:
-        NG-RANSAC, ICCV 2019:
-
-    Args:
-        two_view_report_dict: report containing front-end metrics for each image pair.
-        angular_err_threshold_deg: threshold for classifying angular error metrics as success.
-        metric_group_name: name we will assign to the GtsfmMetricGroup returned by this fn.
-    """
-    num_image_pairs = len(two_view_reports_dict.keys())
-
-    # all rotational errors in degrees
-    rot3_angular_errors_list: List[float] = []
-    trans_angular_errors_list: List[float] = []
-
-    inlier_ratio_gt_model_all_pairs = []
-    inlier_ratio_est_model_all_pairs = []
-    num_inliers_gt_model_all_pairs = []
-    num_inliers_est_model_all_pairs = []
-    # populate the distributions
-    for report in two_view_reports_dict.values():
-        if report is None:
-            continue
-        if report.R_error_deg is not None:
-            rot3_angular_errors_list.append(report.R_error_deg)
-        if report.U_error_deg is not None:
-            trans_angular_errors_list.append(report.U_error_deg)
-
-        inlier_ratio_gt_model_all_pairs.append(report.inlier_ratio_gt_model)
-        inlier_ratio_est_model_all_pairs.append(report.inlier_ratio_est_model)
-        num_inliers_gt_model_all_pairs.append(report.num_inliers_gt_model)
-        num_inliers_est_model_all_pairs.append(report.num_inliers_est_model)
-
-    rot3_angular_errors = np.array(rot3_angular_errors_list, dtype=float)
-    trans_angular_errors = np.array(trans_angular_errors_list, dtype=float)
-    # count number of rot3 errors which are not None. Should be same in rot3/unit3
-    num_valid_image_pairs = np.count_nonzero(~np.isnan(rot3_angular_errors))
-
-    # compute pose errors by picking the max error from rot3 and unit3 errors
-    pose_errors = np.maximum(rot3_angular_errors, trans_angular_errors)
-
-    # check errors against the threshold
-    success_count_rot3 = np.sum(rot3_angular_errors < angular_err_threshold_deg)
-    success_count_unit3 = np.sum(trans_angular_errors < angular_err_threshold_deg)
-    success_count_pose = np.sum(pose_errors < angular_err_threshold_deg)
-
-    # count image pair entries where inlier ratio w.r.t. GT model == 1.
-    all_correct = np.count_nonzero(
-        [report.inlier_ratio_gt_model == 1.0 for report in two_view_reports_dict.values() if report is not None]
-    )
-
-    logger.debug(
-        "[Two view optimizer] [Summary] Rotation success: %d/%d/%d",
-        success_count_rot3,
-        num_valid_image_pairs,
-        num_image_pairs,
-    )
-
-    logger.debug(
-        "[Two view optimizer] [Summary] Translation success: %d/%d/%d",
-        success_count_unit3,
-        num_valid_image_pairs,
-        num_image_pairs,
-    )
-
-    logger.debug(
-        "[Two view optimizer] [Summary] Pose success: %d/%d/%d",
-        success_count_pose,
-        num_valid_image_pairs,
-        num_image_pairs,
-    )
-
-    logger.debug(
-        "[Two view optimizer] [Summary] # Image pairs with 100%% inlier ratio:: %d/%d", all_correct, num_image_pairs
-    )
-
-    # TODO(akshay-krishnan): Move angular_err_threshold_deg and num_total_image_pairs to metadata.
-    frontend_metrics = GtsfmMetricsGroup(
-        metric_group_name,
-        [
-            GtsfmMetric("angular_err_threshold_deg", angular_err_threshold_deg),
-            GtsfmMetric("num_total_image_pairs", int(num_image_pairs)),
-            GtsfmMetric("num_valid_image_pairs", int(num_valid_image_pairs)),
-            GtsfmMetric("rotation_success_count", int(success_count_rot3)),
-            GtsfmMetric("translation_success_count", int(success_count_unit3)),
-            GtsfmMetric("pose_success_count", int(success_count_pose)),
-            GtsfmMetric("num_all_inlier_correspondences_wrt_gt_model", int(all_correct)),
-            GtsfmMetric("rot3_angular_errors_deg", rot3_angular_errors),
-            GtsfmMetric("trans_angular_errors_deg", trans_angular_errors),
-            GtsfmMetric("pose_errors_deg", pose_errors),
-            GtsfmMetric("inlier_ratio_wrt_gt_model", inlier_ratio_gt_model_all_pairs),
-            GtsfmMetric("inlier_ratio_wrt_est_model", inlier_ratio_est_model_all_pairs),
-            GtsfmMetric("num_inliers_est_model", num_inliers_est_model_all_pairs),
-            GtsfmMetric("num_inliers_gt_model", num_inliers_gt_model_all_pairs),
-        ],
-    )
-    return frontend_metrics
diff --git a/gtsfm/utils/images.py b/gtsfm/utils/images.py
index 5f42b3eaf..e051b9761 100644
--- a/gtsfm/utils/images.py
+++ b/gtsfm/utils/images.py
@@ -2,7 +2,7 @@
 
 Authors: Ayush Baid
 """
-from typing import List, Tuple
+from typing import List, Optional, Tuple
 
 import cv2 as cv
 import numpy as np
@@ -238,7 +238,7 @@ def match_image_widths(
     return scaled_image_i1, scaled_image_i2, scale_factor_i1, scale_factor_i2
 
 
-def get_average_point_color(track: SfmTrack, images: List[Image]) -> Tuple[int, int, int]:
+def get_average_point_color(track: SfmTrack, images: Optional[List[Image]]) -> Tuple[int, int, int]:
     """
     Args:
         track: 3d point/landmark and its corresponding 2d measurements in various cameras
@@ -249,6 +249,9 @@ def get_average_point_color(track: SfmTrack, images: List[Image]) -> Tuple[int,
         g: green color intensity, in range [0,255]
         b: blue color intensity, in range [0,255]
     """
+    if images is None:
+        return 0, 0, 0
+
     rgb_measurements = []
     for k in range(track.numberMeasurements()):
 
diff --git a/gtsfm/utils/io.py b/gtsfm/utils/io.py
index 742247d3a..36c5343d3 100644
--- a/gtsfm/utils/io.py
+++ b/gtsfm/utils/io.py
@@ -152,7 +152,13 @@ def read_bundler(file_path: str) -> GtsfmData:
     return GtsfmData.from_sfm_data(sfm_data)
 
 
-def export_model_as_colmap_text(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) -> None:
+def export_model_as_colmap_text(
+    gtsfm_data: GtsfmData,
+    image_shapes: List[Tuple[int, int]],
+    image_fnames: List[str],
+    images: Optional[List[Image]],
+    save_dir: str,
+) -> None:
     """Emulates the COLMAP option to `Export model as text`.
 
     Three text files will be save to disk: "points3D.txt", "images.txt", and "cameras.txt".
@@ -162,8 +168,8 @@ def export_model_as_colmap_text(gtsfm_data: GtsfmData, images: List[Image], save
         images: list of all images for this scene, in order of image index.
         save_dir: folder where text files will be saved.
     """
-    write_cameras(gtsfm_data, images, save_dir)
-    write_images(gtsfm_data, images, save_dir)
+    write_cameras(gtsfm_data, image_shapes, save_dir)
+    write_images(gtsfm_data, image_fnames, save_dir)
     write_points(gtsfm_data, images, save_dir)
 
 
@@ -264,7 +270,7 @@ def read_cameras_txt(fpath: str) -> Optional[List[Cal3Bundler]]:
     return calibrations
 
 
-def write_cameras(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) -> None:
+def write_cameras(gtsfm_data: GtsfmData, image_shapes: List[Tuple[int, int]], save_dir: str) -> None:
     """Writes the camera data file in the COLMAP format.
 
     Reference: https://colmap.github.io/format.html#cameras-txt
@@ -280,28 +286,31 @@ def write_cameras(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) ->
     # Assumes all camera models have five intrinsic parameters
     camera_model = "RADIAL"
 
-    file_path = os.path.join(save_dir, "cameras.txt")
-    with open(file_path, "w") as f:
-        f.write("# Camera list with one line of data per camera:\n")
-        f.write("#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n")
-        # note that we save the number of estimated cameras, not the number of input images,
-        # which would instead be gtsfm_data.number_images().
-        f.write(f"# Number of cameras: {len(gtsfm_data.get_valid_camera_indices())}\n")
+    output_str = ""
 
-        for i in gtsfm_data.get_valid_camera_indices():
-            camera = gtsfm_data.get_camera(i)
-            calibration = camera.calibration()
+    output_str += "# Camera list with one line of data per camera:\n"
+    output_str += "#   CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n"
+    # note that we save the number of estimated cameras, not the number of input images,
+    # which would instead be gtsfm_data.number_images().
+    output_str += f"# Number of cameras: {len(gtsfm_data.get_valid_camera_indices())}\n"
 
-            fx = calibration.fx()
-            u0 = calibration.px()
-            v0 = calibration.py()
-            k1 = calibration.k1()
-            k2 = calibration.k2()
+    for i in gtsfm_data.get_valid_camera_indices():
+        camera = gtsfm_data.get_camera(i)
+        calibration = camera.calibration()
 
-            image_height = images[i].height
-            image_width = images[i].width
+        fx = calibration.fx()
+        u0 = calibration.px()
+        v0 = calibration.py()
+        k1 = calibration.k1()
+        k2 = calibration.k2()
 
-            f.write(f"{i} {camera_model} {image_width} {image_height} {fx} {u0} {v0} {k1} {k2}\n")
+        image_height, image_width = image_shapes[i]
+
+        output_str += f"{i} {camera_model} {image_width} {image_height} {fx} {u0} {v0} {k1} {k2}\n"
+
+    file_path = os.path.join(save_dir, "cameras.txt")
+    with open(file_path, "w") as f:
+        f.write(output_str)
 
 
 def read_images_txt(fpath: str) -> Tuple[Optional[List[Pose3]], Optional[List[str]]]:
@@ -343,7 +352,7 @@ def read_images_txt(fpath: str) -> Tuple[Optional[List[Pose3]], Optional[List[st
     return wTi_list, img_fnames
 
 
-def write_images(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) -> None:
+def write_images(gtsfm_data: GtsfmData, images_fnames: List[str], save_dir: str) -> None:
     """Writes the image data file in the COLMAP format.
 
     Reference: https://colmap.github.io/format.html#images-txt
@@ -372,34 +381,37 @@ def write_images(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) -> N
         else 0
     )
 
+    output_str = ""
+
+    output_str += "# Image list with two lines of data per image:\n"
+    output_str += "#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n"
+    output_str += "#   POINTS2D[] as (X, Y, POINT3D_ID)\n"
+    output_str += f"# Number of images: {num_imgs}, mean observations per image: {mean_obs_per_img:.3f}\n"
+
+    for i in gtsfm_data.get_valid_camera_indices():
+        camera = gtsfm_data.get_camera(i)
+        # COLMAP exports camera extrinsics (cTw), not the poses (wTc), so must invert
+        iTw = camera.pose().inverse()
+        iRw_quaternion = iTw.rotation().quaternion()
+        itw = iTw.translation()
+        tx, ty, tz = itw
+        qw, qx, qy, qz = iRw_quaternion
+
+        output_str += f"{i} {qw} {qx} {qy} {qz} {tx} {ty} {tz} {i} {images_fnames[i]}\n"
+
+        # write out points2d
+        for j in range(gtsfm_data.number_tracks()):
+            track = gtsfm_data.get_track(j)
+            for k in range(track.numberMeasurements()):
+                # write each measurement
+                image_id, uv_measured = track.measurement(k)
+                if image_id == i:
+                    output_str += f" {uv_measured[0]:.3f} {uv_measured[1]:.3f} {j}"
+        output_str += "\n"
+
     file_path = os.path.join(save_dir, "images.txt")
     with open(file_path, "w") as f:
-        f.write("# Image list with two lines of data per image:\n")
-        f.write("#   IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n")
-        f.write("#   POINTS2D[] as (X, Y, POINT3D_ID)\n")
-        f.write(f"# Number of images: {num_imgs}, mean observations per image: {mean_obs_per_img:.3f}\n")
-
-        for i in gtsfm_data.get_valid_camera_indices():
-            img_fname = images[i].file_name
-            camera = gtsfm_data.get_camera(i)
-            # COLMAP exports camera extrinsics (cTw), not the poses (wTc), so must invert
-            iTw = camera.pose().inverse()
-            iRw_quaternion = iTw.rotation().toQuaternion()
-            itw = iTw.translation()
-            tx, ty, tz = itw
-            qw, qx, qy, qz = iRw_quaternion.w(), iRw_quaternion.x(), iRw_quaternion.y(), iRw_quaternion.z()
-
-            f.write(f"{i} {qw} {qx} {qy} {qz} {tx} {ty} {tz} {i} {img_fname}\n")
-
-            # write out points2d
-            for j in range(gtsfm_data.number_tracks()):
-                track = gtsfm_data.get_track(j)
-                for k in range(track.numberMeasurements()):
-                    # write each measurement
-                    image_id, uv_measured = track.measurement(k)
-                    if image_id == i:
-                        f.write(f" {uv_measured[0]:.3f} {uv_measured[1]:.3f} {j}")
-            f.write("\n")
+        f.write(output_str)
 
 
 def read_points_txt(fpath: str) -> Tuple[Optional[np.ndarray], Optional[np.ndarray]]:
@@ -460,7 +472,7 @@ def read_scene(
     return wTi_list, img_fnames, calibrations, point_cloud, rgb
 
 
-def write_points(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) -> None:
+def write_points(gtsfm_data: GtsfmData, images: Optional[List[Image]], save_dir: str) -> None:
     """Writes the point cloud data file in the COLMAP format.
 
     Reference: https://colmap.github.io/format.html#points3d-txt
@@ -475,27 +487,31 @@ def write_points(gtsfm_data: GtsfmData, images: List[Image], save_dir: str) -> N
     num_pts = gtsfm_data.number_tracks()
     avg_track_length, _ = gtsfm_data.get_track_length_statistics()
 
-    file_path = os.path.join(save_dir, "points3D.txt")
-    with open(file_path, "w") as f:
-        f.write("# 3D point list with one line of data per point:\n")
-        f.write("#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n")
-        f.write(f"# Number of points: {num_pts}, mean track length: {np.round(avg_track_length, 2)}\n")
+    output_str = ""
 
-        # TODO: assign unique indices to all keypoints (2d points)
-        point2d_idx = 0
+    output_str += "# 3D point list with one line of data per point:\n"
+    output_str += "#   POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n"
+    output_str += f"# Number of points: {num_pts}, mean track length: {np.round(avg_track_length, 2)}\n"
 
-        for j in range(num_pts):
-            track = gtsfm_data.get_track(j)
+    # TODO: assign unique indices to all keypoints (2d points)
+    point2d_idx = 0
+
+    for j in range(num_pts):
+        track = gtsfm_data.get_track(j)
 
-            r, g, b = image_utils.get_average_point_color(track, images)
-            _, avg_track_reproj_error = reproj_utils.compute_track_reprojection_errors(gtsfm_data._cameras, track)
-            x, y, z = track.point3()
-            f.write(f"{j} {x} {y} {z} {r} {g} {b} {np.round(avg_track_reproj_error, 2)} ")
+        r, g, b = image_utils.get_average_point_color(track, images)
+        _, avg_track_reproj_error = reproj_utils.compute_track_reprojection_errors(gtsfm_data._cameras, track)
+        x, y, z = track.point3()
+        output_str += f"{j} {x} {y} {z} {r} {g} {b} {np.round(avg_track_reproj_error, 2)} "
 
-            for k in range(track.numberMeasurements()):
-                i, uv_measured = track.measurement(k)
-                f.write(f"{i} {point2d_idx} ")
-            f.write("\n")
+        for k in range(track.numberMeasurements()):
+            i, uv_measured = track.measurement(k)
+            output_str += f"{i} {point2d_idx} "
+        output_str += "\n"
+
+    file_path = os.path.join(save_dir, "points3D.txt")
+    with open(file_path, "w") as f:
+        f.write(output_str)
 
 
 def save_track_visualizations(
diff --git a/gtsfm/utils/logger.py b/gtsfm/utils/logger.py
index a488b1cbb..46d7ec6d2 100644
--- a/gtsfm/utils/logger.py
+++ b/gtsfm/utils/logger.py
@@ -12,6 +12,7 @@ def get_logger() -> Logger:
     logger_name = "main-logger"
     logger = logging.getLogger(logger_name)
     logger.setLevel(logging.DEBUG)
+    logger.propagate = False
     if not logger.handlers:
         handler = logging.StreamHandler(sys.stdout)
         fmt = "[%(asctime)s %(levelname)s %(filename)s line %(lineno)d %(process)d] %(message)s"
diff --git a/gtsfm/utils/metrics.py b/gtsfm/utils/metrics.py
index f36a78d40..4cf7ca9c2 100644
--- a/gtsfm/utils/metrics.py
+++ b/gtsfm/utils/metrics.py
@@ -18,6 +18,7 @@
 from gtsfm.common.gtsfm_data import GtsfmData
 from gtsfm.common.keypoints import Keypoints
 from gtsfm.evaluation.metrics import GtsfmMetric, GtsfmMetricsGroup
+from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
 
 REPO_ROOT = Path(__file__).resolve().parent.parent.parent
 
@@ -270,7 +271,7 @@ def compute_translation_angle_metric(
     for (i1, i2) in i2Ui1_dict:
         i2Ui1 = i2Ui1_dict[(i1, i2)]
         angles.append(comp_utils.compute_translation_to_direction_angle(i2Ui1, wTi_list[i2], wTi_list[i1]))
-    return GtsfmMetric("translation_angle_error_deg", np.array(angles, dtype=np.float))
+    return GtsfmMetric("translation_angle_error_deg", np.array(angles, dtype=np.float32))
 
 
 def compute_ba_pose_metrics(
@@ -289,7 +290,10 @@ def compute_ba_pose_metrics(
         A group of metrics that describe errors associated with a bundle adjustment result (w.r.t. GT).
     """
     wTi_aligned_list = ba_output.get_camera_poses()
-    i2Ui1_dict_gt = get_twoview_translation_directions(gt_wTi_list)
+    indices_with_valid_poses = [i for i, wTi in enumerate(wTi_aligned_list) if wTi is not None]
+    possible_img_pair_idxs = list(itertools.combinations(indices_with_valid_poses, 2))
+
+    i2Ui1_dict_gt = get_twoview_translation_directions(gt_wTi_list, possible_img_pair_idxs)
 
     wRi_aligned_list, wti_aligned_list = get_rotations_translations_from_poses(wTi_aligned_list)
     gt_wRi_list, gt_wti_list = get_rotations_translations_from_poses(gt_wTi_list)
@@ -301,21 +305,20 @@ def compute_ba_pose_metrics(
     return GtsfmMetricsGroup(name="ba_pose_error_metrics", metrics=metrics)
 
 
-def get_twoview_translation_directions(wTi_list: List[Optional[Pose3]]) -> Dict[Tuple[int, int], Optional[Unit3]]:
-    """Generate synthetic measurements of the 2-view translation directions between image pairs.
+def get_twoview_translation_directions(
+    wTi_list: List[Optional[Pose3]], edges: List[Tuple[int, int]]
+) -> Dict[Tuple[int, int], Optional[Unit3]]:
+    """Generate synthetic measurements of the 2-view translation directions for the edges.
 
     Args:
         wTi_list: List of poses (e.g. could be ground truth).
+        edges: edges to get the directions for.
 
     Returns:
         i2Ui1_dict: Dict from (i1, i2) to unit translation direction i2Ui1.
     """
-    number_images = len(wTi_list)  # vs. using ba_output.number_images()
-
-    # check against all possible image pairs -- compute unit translation directions
     i2Ui1_dict = {}
-    possible_img_pair_idxs = list(itertools.combinations(range(number_images), 2))
-    for (i1, i2) in possible_img_pair_idxs:
+    for (i1, i2) in edges:
         # compute the exact relative pose
         if wTi_list[i1] is None or wTi_list[i2] is None:
             i2Ui1 = None
@@ -404,3 +407,111 @@ def compute_percentage_change(x: float, y: float) -> float:
         percentage change (may be positive or negative).
     """
     return (y - x) / (x + EPSILON) * 100
+
+
+def aggregate_frontend_metrics(
+    two_view_reports_dict: Dict[Tuple[int, int], Optional[TwoViewEstimationReport]],
+    angular_err_threshold_deg: float,
+    metric_group_name: str,
+) -> None:
+    """Aggregate the front-end metrics to log summary statistics.
+
+    We define "pose error" as the maximum of the angular errors in rotation and translation, per:
+        SuperGlue, CVPR 2020: https://arxiv.org/pdf/1911.11763.pdf
+        Learning to find good correspondences. CVPR 2018:
+        OA-Net, ICCV 2019:
+        NG-RANSAC, ICCV 2019:
+
+    Args:
+        two_view_report_dict: report containing front-end metrics for each image pair.
+        angular_err_threshold_deg: threshold for classifying angular error metrics as success.
+        metric_group_name: name we will assign to the GtsfmMetricGroup returned by this fn.
+    """
+    num_image_pairs = len(two_view_reports_dict.keys())
+
+    # all rotational errors in degrees
+    rot3_angular_errors_list: List[float] = []
+    trans_angular_errors_list: List[float] = []
+
+    inlier_ratio_gt_model_all_pairs = []
+    inlier_ratio_est_model_all_pairs = []
+    num_inliers_gt_model_all_pairs = []
+    num_inliers_est_model_all_pairs = []
+    # populate the distributions
+    for report in two_view_reports_dict.values():
+        if report is None:
+            continue
+        if report.R_error_deg is not None:
+            rot3_angular_errors_list.append(report.R_error_deg)
+        if report.U_error_deg is not None:
+            trans_angular_errors_list.append(report.U_error_deg)
+
+        inlier_ratio_gt_model_all_pairs.append(report.inlier_ratio_gt_model)
+        inlier_ratio_est_model_all_pairs.append(report.inlier_ratio_est_model)
+        num_inliers_gt_model_all_pairs.append(report.num_inliers_gt_model)
+        num_inliers_est_model_all_pairs.append(report.num_inliers_est_model)
+
+    rot3_angular_errors = np.array(rot3_angular_errors_list, dtype=float)
+    trans_angular_errors = np.array(trans_angular_errors_list, dtype=float)
+    # count number of rot3 errors which are not None. Should be same in rot3/unit3
+    num_valid_image_pairs = np.count_nonzero(~np.isnan(rot3_angular_errors))
+
+    # compute pose errors by picking the max error from rot3 and unit3 errors
+    pose_errors = np.maximum(rot3_angular_errors, trans_angular_errors)
+
+    # check errors against the threshold
+    success_count_rot3 = np.sum(rot3_angular_errors < angular_err_threshold_deg)
+    success_count_unit3 = np.sum(trans_angular_errors < angular_err_threshold_deg)
+    success_count_pose = np.sum(pose_errors < angular_err_threshold_deg)
+
+    # count image pair entries where inlier ratio w.r.t. GT model == 1.
+    all_correct = np.count_nonzero(
+        [report.inlier_ratio_gt_model == 1.0 for report in two_view_reports_dict.values() if report is not None]
+    )
+
+    logger.debug(
+        "[Two view optimizer] [Summary] Rotation success: %d/%d/%d",
+        success_count_rot3,
+        num_valid_image_pairs,
+        num_image_pairs,
+    )
+
+    logger.debug(
+        "[Two view optimizer] [Summary] Translation success: %d/%d/%d",
+        success_count_unit3,
+        num_valid_image_pairs,
+        num_image_pairs,
+    )
+
+    logger.debug(
+        "[Two view optimizer] [Summary] Pose success: %d/%d/%d",
+        success_count_pose,
+        num_valid_image_pairs,
+        num_image_pairs,
+    )
+
+    logger.debug(
+        "[Two view optimizer] [Summary] # Image pairs with 100%% inlier ratio:: %d/%d", all_correct, num_image_pairs
+    )
+
+    # TODO(akshay-krishnan): Move angular_err_threshold_deg and num_total_image_pairs to metadata.
+    frontend_metrics = GtsfmMetricsGroup(
+        metric_group_name,
+        [
+            GtsfmMetric("angular_err_threshold_deg", angular_err_threshold_deg),
+            GtsfmMetric("num_total_image_pairs", int(num_image_pairs)),
+            GtsfmMetric("num_valid_image_pairs", int(num_valid_image_pairs)),
+            GtsfmMetric("rotation_success_count", int(success_count_rot3)),
+            GtsfmMetric("translation_success_count", int(success_count_unit3)),
+            GtsfmMetric("pose_success_count", int(success_count_pose)),
+            GtsfmMetric("num_all_inlier_correspondences_wrt_gt_model", int(all_correct)),
+            GtsfmMetric("rot3_angular_errors_deg", rot3_angular_errors),
+            GtsfmMetric("trans_angular_errors_deg", trans_angular_errors),
+            GtsfmMetric("pose_errors_deg", pose_errors),
+            GtsfmMetric("inlier_ratio_wrt_gt_model", inlier_ratio_gt_model_all_pairs),
+            GtsfmMetric("inlier_ratio_wrt_est_model", inlier_ratio_est_model_all_pairs),
+            GtsfmMetric("num_inliers_est_model", num_inliers_est_model_all_pairs),
+            GtsfmMetric("num_inliers_gt_model", num_inliers_gt_model_all_pairs),
+        ],
+    )
+    return frontend_metrics
diff --git a/gtsfm/utils/reprojection.py b/gtsfm/utils/reprojection.py
index f3cdec27e..1f2adff0f 100644
--- a/gtsfm/utils/reprojection.py
+++ b/gtsfm/utils/reprojection.py
@@ -21,7 +21,7 @@ def compute_track_reprojection_errors(
 
     Returns:
         reprojection errors for each measurement (measured in pixels).
-        avg_track_reproj_error: average reprojection error of all meausurements in track.
+        average_reprojection_error: average reprojection error of all meausurements in track.
     """
     errors = []
     for k in range(track.numberMeasurements()):
@@ -41,44 +41,34 @@ def compute_track_reprojection_errors(
             errors.append(np.nan)
 
     errors = np.array(errors)
-    avg_track_reproj_error = np.nan if np.isnan(errors).all() else np.nanmean(errors)
-    return errors, avg_track_reproj_error
+    average_reprojection_error = np.nan if np.isnan(errors).all() else np.nanmean(errors)
+    return errors, average_reprojection_error
 
 
 def compute_point_reprojection_errors(
-    track_camera_dict: Dict[int, PinholeCameraCal3Bundler], point3d: np.ndarray, measurements: List[SfmMeasurement]
+    cameras: Dict[int, PinholeCameraCal3Bundler], point3d: np.ndarray, measurements: List[SfmMeasurement]
 ) -> Tuple[np.ndarray, float]:
     """Compute reprojection errors for a hypothesized 3d point vs. 2d measurements.
 
     Args:
-        track_camera_dict: Dict of cameras, with camera indices as keys.
+        cameras: Dict of cameras, with camera indices as keys.
         point3d: hypothesized 3d point/landmark
         measurements: corresponding 2d measurements (of 3d point above) in various cameras
 
     Returns:
         reprojection errors for each measurement (measured in pixels).
-        avg_track_reproj_error: average reprojection error of all meausurements in track.
+        average_reprojection_error: average reprojection error of all measurements in track.
     """
-    errors = []
-    for (i, uv_measured) in measurements:
-
-        if i not in track_camera_dict:
-            # camera pose was not successfully estimated, PinholeCameraCal3Bundler was uninitialized
-            errors.append(np.nan)
-            continue
-
-        # get the camera associated with the measurement
-        camera = track_camera_dict[i]
-        # Project to camera
-        uv_reprojected, success_flag = camera.projectSafe(point3d)
-        # Projection error in camera
-        if success_flag:
-            errors.append(np.linalg.norm(uv_measured - uv_reprojected))
-        else:
-            # failure in projection
-            errors.append(np.nan)
-
-    errors = np.array(errors)
-    avg_track_reproj_error = np.nan if np.isnan(errors).all() else np.nanmean(errors)
-    return errors, avg_track_reproj_error
-
+    nan = np.array([np.nan, np.nan])
+    safe_projections = [
+        cameras[i].projectSafe(point3d) if i in cameras else (nan, False) for i, uv_measured in measurements
+    ]
+    valid_projections = np.array(
+        [
+            uv_projected - uv_measured
+            for (uv_projected, success), (i, uv_measured) in zip(safe_projections, measurements)
+        ]
+    )
+    errors = np.linalg.norm(valid_projections, axis=1)
+    average_reprojection_error = np.nan if np.isnan(errors).all() else np.nanmean(errors)
+    return errors, average_reprojection_error
diff --git a/tests/data/sample_poses.py b/gtsfm/utils/sample_poses.py
similarity index 100%
rename from tests/data/sample_poses.py
rename to gtsfm/utils/sample_poses.py
diff --git a/gtsfm/utils/viz.py b/gtsfm/utils/viz.py
index 8b4c4e77e..a48bff400 100644
--- a/gtsfm/utils/viz.py
+++ b/gtsfm/utils/viz.py
@@ -17,7 +17,7 @@
 from gtsfm.common.gtsfm_data import GtsfmData
 from gtsfm.common.image import Image
 from gtsfm.common.keypoints import Keypoints
-from gtsfm.two_view_estimator import TwoViewEstimationReport
+from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
 
 COLOR_RED = (255, 0, 0)
 COLOR_GREEN = (0, 255, 0)
diff --git a/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py b/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py
index 19f206f83..c9e65bd20 100644
--- a/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py
+++ b/gtsfm/view_graph_estimator/cycle_consistent_rotation_estimator.py
@@ -15,7 +15,7 @@
 import gtsfm.utils.graph as graph_utils
 import gtsfm.utils.logger as logger_utils
 from gtsfm.common.keypoints import Keypoints
-from gtsfm.two_view_estimator import TwoViewEstimationReport
+from gtsfm.common.two_view_estimation_report import TwoViewEstimationReport
 from gtsfm.view_graph_estimator.view_graph_estimator_base import ViewGraphEstimatorBase
 
 logger = logger_utils.get_logger()
diff --git a/gtsfm/visualization/view_scene.py b/gtsfm/visualization/view_scene.py
index 899adeedb..9654b3cd1 100644
--- a/gtsfm/visualization/view_scene.py
+++ b/gtsfm/visualization/view_scene.py
@@ -54,10 +54,13 @@ def view_scene(args: argparse.Namespace) -> None:
     if args.show_mvs_result:
         point_cloud, rgb = io_utils.read_point_cloud_from_ply(args.ply_fpath)
 
-
     if len(calibrations) == 1:
         calibrations = calibrations * len(img_fnames)
-    mean_pt = compute_point_cloud_center_robust(point_cloud)
+
+    if args.center_trajectory:
+        mean_pt = compute_point_cloud_center_robust(np.array([T.translation() for T in wTi_list]))
+    else:
+        mean_pt = compute_point_cloud_center_robust(point_cloud)
 
     # Zero-center the point cloud (about estimated center).
     zcwTw = Pose3(Rot3(np.eye(3)), -mean_pt)
@@ -111,7 +114,12 @@ def view_scene(args: argparse.Namespace) -> None:
     parser.add_argument(
         "--show_mvs_result",
         action="store_true",
-        help="defaults to false.",
+        help="Show MVS result, defaults to false.",
+    )
+    parser.add_argument(
+        "--center_trajectory",
+        action="store_true",
+        help="Center point cloud on trajectory, defaults to false.",
     )
     parser.add_argument(
         "--ply_fpath",
diff --git a/notebooks/explore_hilti.ipynb b/notebooks/explore_hilti.ipynb
index bda99b990..ffe5d1830 100644
--- a/notebooks/explore_hilti.ipynb
+++ b/notebooks/explore_hilti.ipynb
@@ -13,7 +13,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 1,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -49,9 +49,17 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 2,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "/Users/dellaert/git/gtsfm/tests/data/hilti_exp4_medium\n"
+     ]
+    }
+   ],
    "source": [
     "cwd = Path.cwd()\n",
     "folder_path = Path(cwd.parent / \"tests\" / \"data\" / \"hilti_exp4_medium\")\n",
@@ -60,18 +68,40 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 3,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "ls: /Users/dellaert/git/gtsfm/tests/data/hilti_exp4_medium: No such file or directory\n"
+     ]
+    }
+   ],
    "source": [
     "%ls /Users/dellaert/git/gtsfm/tests/data/hilti_exp4_medium"
    ]
   },
   {
    "cell_type": "code",
-   "execution_count": null,
+   "execution_count": 4,
    "metadata": {},
-   "outputs": [],
+   "outputs": [
+    {
+     "ename": "FileNotFoundError",
+     "evalue": "[Errno 2] No such file or directory: '/Users/dellaert/git/gtsfm/tests/data/hilti_exp4_medium/calibration/calib_3_cam0-1-camchain-imucam.yaml'",
+     "output_type": "error",
+     "traceback": [
+      "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m",
+      "\u001b[0;31mFileNotFoundError\u001b[0m                         Traceback (most recent call last)",
+      "\u001b[1;32m/Users/dellaert/git/gtsfm/notebooks/explore_hilti.ipynb Cell 5'\u001b[0m in \u001b[0;36m<cell line: 3>\u001b[0;34m()\u001b[0m\n\u001b[1;32m      <a href='vscode-notebook-cell:/Users/dellaert/git/gtsfm/notebooks/explore_hilti.ipynb#ch0000004?line=0'>1</a>\u001b[0m \u001b[39m# Load Images\u001b[39;00m\n\u001b[1;32m      <a href='vscode-notebook-cell:/Users/dellaert/git/gtsfm/notebooks/explore_hilti.ipynb#ch0000004?line=1'>2</a>\u001b[0m indices \u001b[39m=\u001b[39m \u001b[39mrange\u001b[39m(\u001b[39m300\u001b[39m, \u001b[39m300\u001b[39m\u001b[39m+\u001b[39m\u001b[39m20\u001b[39m)\n\u001b[0;32m----> <a href='vscode-notebook-cell:/Users/dellaert/git/gtsfm/notebooks/explore_hilti.ipynb#ch0000004?line=2'>3</a>\u001b[0m loader \u001b[39m=\u001b[39m HiltiLoader(base_folder\u001b[39m=\u001b[39;49m\u001b[39mstr\u001b[39;49m(folder_path))\n\u001b[1;32m      <a href='vscode-notebook-cell:/Users/dellaert/git/gtsfm/notebooks/explore_hilti.ipynb#ch0000004?line=3'>4</a>\u001b[0m images \u001b[39m=\u001b[39m [loader\u001b[39m.\u001b[39mget_image(i) \u001b[39mfor\u001b[39;00m i \u001b[39min\u001b[39;00m indices]\n",
+      "File \u001b[0;32m~/git/gtsfm/gtsfm/loader/hilti_loader.py:81\u001b[0m, in \u001b[0;36mHiltiLoader.__init__\u001b[0;34m(self, base_folder, max_length, max_resolution, subsample, old_style)\u001b[0m\n\u001b[1;32m     <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=78'>79</a>\u001b[0m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_cam_T_imu_poses: Dict[\u001b[39mint\u001b[39m, Pose3] \u001b[39m=\u001b[39m {}\n\u001b[1;32m     <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=79'>80</a>\u001b[0m \u001b[39mfor\u001b[39;00m cam_idx \u001b[39min\u001b[39;00m \u001b[39mrange\u001b[39m(NUM_CAMS):\n\u001b[0;32m---> <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=80'>81</a>\u001b[0m     calibration \u001b[39m=\u001b[39m \u001b[39mself\u001b[39;49m\u001b[39m.\u001b[39;49m__load_calibration(cam_idx)\n\u001b[1;32m     <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=81'>82</a>\u001b[0m     \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_intrinsics[cam_idx] \u001b[39m=\u001b[39m calibration[\u001b[39m0\u001b[39m]\n\u001b[1;32m     <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=82'>83</a>\u001b[0m     \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_cam_T_imu_poses[cam_idx] \u001b[39m=\u001b[39m calibration[\u001b[39m1\u001b[39m]\n",
+      "File \u001b[0;32m~/git/gtsfm/gtsfm/loader/hilti_loader.py:217\u001b[0m, in \u001b[0;36mHiltiLoader.__load_calibration\u001b[0;34m(self, cam_idx)\u001b[0m\n\u001b[1;32m    <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=213'>214</a>\u001b[0m \u001b[39m\"\"\"Load calibration from kalibr files in calibration sub-folder.\"\"\"\u001b[39;00m\n\u001b[1;32m    <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=214'>215</a>\u001b[0m kalibr_file_path \u001b[39m=\u001b[39m \u001b[39mself\u001b[39m\u001b[39m.\u001b[39m_base_folder \u001b[39m/\u001b[39m \u001b[39m\"\u001b[39m\u001b[39mcalibration\u001b[39m\u001b[39m\"\u001b[39m \u001b[39m/\u001b[39m CAM_IDX_TO_KALIBR_FILE_MAP[cam_idx]\n\u001b[0;32m--> <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=216'>217</a>\u001b[0m \u001b[39mwith\u001b[39;00m \u001b[39mopen\u001b[39;49m(kalibr_file_path, \u001b[39m\"\u001b[39;49m\u001b[39mr\u001b[39;49m\u001b[39m\"\u001b[39;49m) \u001b[39mas\u001b[39;00m file:\n\u001b[1;32m    <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=217'>218</a>\u001b[0m     calibration_data \u001b[39m=\u001b[39m yaml\u001b[39m.\u001b[39msafe_load(file)\n\u001b[1;32m    <a href='file:///Users/dellaert/git/gtsfm/gtsfm/loader/hilti_loader.py?line=218'>219</a>\u001b[0m     \u001b[39mif\u001b[39;00m cam_idx \u001b[39m!=\u001b[39m \u001b[39m1\u001b[39m:\n",
+      "\u001b[0;31mFileNotFoundError\u001b[0m: [Errno 2] No such file or directory: '/Users/dellaert/git/gtsfm/tests/data/hilti_exp4_medium/calibration/calib_3_cam0-1-camchain-imucam.yaml'"
+     ]
+    }
+   ],
    "source": [
     "# Load Images\n",
     "indices = range(300, 300+20)\n",
@@ -192,12 +222,10 @@
    "outputs": [],
    "source": [
     "i2Ri1_graph, i2Ui1_graph = scene_optimizer.create_computation_graph_for_frontend(\n",
+    "    self.loader,\n",
+    "    image_graph=loader.create_computation_graph_for_images()\n",
     "    image_pair_indices=subset_pair_indices, \n",
-    "    image_graph=loader.create_computation_graph_for_images(),\n",
-    "    all_intrinsics=loader.create_computation_graph_for_intrinsics(),\n",
-    "    image_shapes = loader.create_computation_graph_for_image_shapes(),\n",
-    "    relative_pose_priors = loader.get_relative_pose_priors(subset_pair_indices),\n",
-    "    gt_poses_graph = loader.create_computation_graph_for_poses())"
+    "    )"
    ]
   },
   {
@@ -465,7 +493,7 @@
  ],
  "metadata": {
   "interpreter": {
-   "hash": "4fd427e5d3afc8e77fd80f60207859a2afe2c687da56f6de3914baf61d886f83"
+   "hash": "4d608302ba82e7596903db5446e6fa05f049271852e8cc6e1cafaafe5fbd9fed"
   },
   "kernelspec": {
    "display_name": "Python 3.8.13 ('gtsfm-v1')",
diff --git a/tests/averaging/rotation/test_shonan.py b/tests/averaging/rotation/test_shonan.py
index 47b4ff169..efcc5a486 100644
--- a/tests/averaging/rotation/test_shonan.py
+++ b/tests/averaging/rotation/test_shonan.py
@@ -11,7 +11,7 @@
 from gtsam import Rot3, Pose3
 
 import gtsfm.utils.geometry_comparisons as geometry_comparisons
-import tests.data.sample_poses as sample_poses
+import gtsfm.utils.sample_poses as sample_poses
 from gtsfm.averaging.rotation.rotation_averaging_base import RotationAveragingBase
 from gtsfm.averaging.rotation.shonan import ShonanRotationAveraging
 
@@ -36,8 +36,8 @@ def __execute_test(self, i2Ri1_input: Dict[Tuple[int, int], Rot3], wRi_expected:
             i2Ri1_input: relative rotations, which are input to the algorithm.
             wRi_expected: expected global rotations.
         """
-        i2Ri1_priors = {edge: None for edge in i2Ri1_input.keys()}
-        wRi_computed = self.obj.run(len(wRi_expected), i2Ri1_input, i2Ri1_priors)
+        i2Ri1_priors = {}
+        wRi_computed = self.obj.run_rotation_averaging(len(wRi_expected), i2Ri1_input, i2Ri1_priors)
         self.assertTrue(
             geometry_comparisons.compare_rotations(wRi_computed, wRi_expected, ROTATION_ANGLE_ERROR_THRESHOLD_DEG)
         )
@@ -99,13 +99,13 @@ def test_computation_graph(self):
         i2Ri1_graph = dask.delayed(i2Ri1_dict)
 
         # use the GTSAM API directly (without dask) for rotation averaging
-        i2Ri1_priors = {edge: None for edge in i2Ri1_dict.keys()}
-        expected_wRi_list = self.obj.run(num_poses, i2Ri1_dict, i2Ri1_priors)
+        relative_pose_priors = {}
+        expected_wRi_list = self.obj.run_rotation_averaging(num_poses, i2Ri1_dict, relative_pose_priors)
 
         # use dask's computation graph
         gt_wTi_list = [None] * len(expected_wRi_list)
         rotations_graph, _ = self.obj.create_computation_graph(
-            num_poses, i2Ri1_graph, dask.delayed(i2Ri1_priors), gt_wTi_list
+            num_poses, i2Ri1_graph, relative_pose_priors, gt_wTi_list
         )
 
         with dask.config.set(scheduler="single-threaded"):
@@ -146,8 +146,8 @@ def test_nonconsecutive_indices(self):
             (1, 3): wTi3.between(wTi1).rotation(),
         }
 
-        i2Ri1_priors = {edge: None for edge in i2Ri1_input.keys()}
-        wRi_computed = self.obj.run(num_images, i2Ri1_input, i2Ri1_priors)
+        i2Ri1_priors = {}
+        wRi_computed = self.obj.run_rotation_averaging(num_images, i2Ri1_input, i2Ri1_priors)
         wRi_expected = [None, wTi1.rotation(), wTi2.rotation(), wTi3.rotation()]
         self.assertTrue(
             geometry_comparisons.compare_rotations(wRi_computed, wRi_expected, angular_error_threshold_degrees=0.1)
diff --git a/tests/averaging/translation/test_averaging_1dsfm.py b/tests/averaging/translation/test_averaging_1dsfm.py
index ddc3a2169..1c03fb2f2 100644
--- a/tests/averaging/translation/test_averaging_1dsfm.py
+++ b/tests/averaging/translation/test_averaging_1dsfm.py
@@ -8,13 +8,15 @@
 from typing import Dict, List, Tuple
 
 import dask
+import gtsam
 import numpy as np
 from gtsam import Cal3_S2, Point3, Pose3, Rot3, Unit3
 from gtsam.examples import SFMdata
+from gtsfm.common.pose_prior import PosePrior, PosePriorType
 
 import gtsfm.utils.geometry_comparisons as geometry_comparisons
 
-import tests.data.sample_poses as sample_poses
+import gtsfm.utils.sample_poses as sample_poses
 from gtsfm.averaging.translation.averaging_1dsfm import TranslationAveraging1DSFM
 from gtsfm.averaging.translation.translation_averaging_base import TranslationAveragingBase
 from gtsfm.loader.olsson_loader import OlssonLoader
@@ -32,16 +34,68 @@ class TestTranslationAveraging1DSFM(unittest.TestCase):
     def setUp(self):
         super().setUp()
 
-        self.obj: TranslationAveragingBase = TranslationAveraging1DSFM()
+        self.obj: TranslationAveraging1DSFM = TranslationAveraging1DSFM()
+
+    def test_augmentation(self):
+        """Tests that measurements for betweenTranslations are augmented to input measurements."""
+        input_measurements = gtsam.BinaryMeasurementsUnit3()
+        INPUT_NOISE_MODEL = gtsam.noiseModel.Isotropic.Sigma(2, 1e-2)
+        input_measurements.append(gtsam.BinaryMeasurementUnit3(0, 1, Unit3(Point3(1, 0, 0)), INPUT_NOISE_MODEL))
+        input_measurements.append(gtsam.BinaryMeasurementUnit3(0, 2, Unit3(Point3(0, 1, 0)), INPUT_NOISE_MODEL))
+        input_measurements.append(gtsam.BinaryMeasurementUnit3(1, 2, Unit3(Point3(0, 0, 1)), INPUT_NOISE_MODEL))
+
+        priors = gtsam.BinaryMeasurementsPoint3()
+        PRIOR_NOISE_MODEL = gtsam.noiseModel.Isotropic.Sigma(3, 1e-2)
+        priors.append(gtsam.BinaryMeasurementPoint3(0, 2, Point3(1, 1, 0), PRIOR_NOISE_MODEL))
+        priors.append(gtsam.BinaryMeasurementPoint3(2, 3, Point3(1, 0, 1), PRIOR_NOISE_MODEL))
+
+        augmented_measurements = self.obj.augment_measurement_with_priors(input_measurements, priors, INPUT_NOISE_MODEL)
+        self.assertEqual(len(augmented_measurements), 4)
+        augmented_measurements_dict = {}
+        for idx in range(len(augmented_measurements)):
+            measurement = augmented_measurements[idx]
+            augmented_measurements_dict[(measurement.key1(), measurement.key2())] = measurement.measured()
+        self.assertSetEqual(set(augmented_measurements_dict.keys()), set([(0, 1), (0, 2), (1, 2), (2, 3)]))
+        np.testing.assert_array_equal(augmented_measurements_dict[2, 3].point3(), Unit3(Point3(1, 0, 1)).point3())
+
+    def test_convert_prior_to_world_frame(self):
+        """Test the helper method for transforming betweenTranslations to world frame."""
+        # Rotate i1 by 90 degrees in Z, and translate by (1, 1, 1)
+        wRi1 = Rot3.Rz(np.deg2rad(90))
+        i1Ti2 = Pose3(Rot3(), Point3(2, 0, 1))  # Identity rotation, X axis.
+
+        prior_covariance = np.zeros((6, 6))
+        for i in range(6):
+            prior_covariance[i, i] = 1.0 if i != 3 else 2.0
+        i1Ti2_prior = PosePrior(value=i1Ti2, covariance=prior_covariance, type=PosePriorType.SOFT_CONSTRAINT)
+
+        wRi_list = [Rot3(), wRi1, Rot3()]  # identity for 0 and 2, wRi1 for 1
+        w_i1ti2_priors = self.obj._get_prior_measurements_in_world_frame({(1, 2): i1Ti2_prior}, wRi_list)
+        # Check length
+        self.assertEqual(len(w_i1ti2_priors), 1)
+
+        # Check keys
+        actual_i1 = w_i1ti2_priors[0].key1()
+        actual_i2 = w_i1ti2_priors[0].key2()
+        self.assertEqual(actual_i1, 1)
+        self.assertEqual(actual_i2, 2)
+
+        # Check value
+        actual_w_i1ti2 = w_i1ti2_priors[0].measured()
+        np.testing.assert_array_almost_equal(actual_w_i1ti2, Point3(0, 2, 1))
+
+        # Check covariance
+        actual_covariance = w_i1ti2_priors[0].noiseModel().covariance()
+        expected_covariance = np.eye(3)
+        expected_covariance[1, 1] = 2.0
+        np.testing.assert_array_almost_equal(actual_covariance, expected_covariance)
 
     def __execute_test(
         self, i2Ui1_input: Dict[Tuple[int, int], Unit3], wRi_input: List[Rot3], wti_expected: List[Point3]
     ) -> None:
         """Helper function to run the averagaing and assert w/ expected."""
 
-        wti_computed, _ = self.obj.run(len(wRi_input), i2Ui1_input, wRi_input)
-
-        wTi_computed = [Pose3(wRi, wti) for wRi, wti in zip(wRi_input, wti_computed)]
+        wTi_computed, _ = self.obj.run_translation_averaging(len(wRi_input), i2Ui1_input, wRi_input)
         wTi_expected = [Pose3(wRi, wti) for wRi, wti in zip(wRi_input, wti_expected)]
         self.assertTrue(
             geometry_comparisons.compare_global_poses(
@@ -130,16 +184,14 @@ def test_computation_graph(self):
                 i2Ui1_dict[(i1, i2)] = Unit3(expected_wTi_list[i2].between(expected_wTi_list[i1]).translation())
 
         # use the `run` API to get expected results, ignore the metrics
-        wti_expected, _ = self.obj.run(len(wRi_list), i2Ui1_dict, wRi_list)
+        wTi_expected, _ = self.obj.run_translation_averaging(len(wRi_list), i2Ui1_dict, wRi_list)
 
         # form computation graph and execute
         i2Ui1_graph = dask.delayed(i2Ui1_dict)
         wRi_graph = dask.delayed(wRi_list)
         computation_graph = self.obj.create_computation_graph(len(wRi_list), i2Ui1_graph, wRi_graph)
         with dask.config.set(scheduler="single-threaded"):
-            wti_computed, _ = dask.compute(computation_graph)[0]
-        wTi_computed = [Pose3(wRi, wti) for wRi, wti in zip(wRi_list, wti_computed)]
-        wTi_expected = [Pose3(wRi, wti) for wRi, wti in zip(wRi_list, wti_expected)]
+            wTi_computed, _ = dask.compute(computation_graph)[0]
         self.assertTrue(
             geometry_comparisons.compare_global_poses(
                 wTi_computed, wTi_expected, RELATIVE_ERROR_THRESHOLD, ABSOLUTE_ERROR_THRESHOLD
@@ -163,10 +215,10 @@ def setUp(self):
 
     def test_outlier_case_missing_value(self) -> None:
         """Ensure that a missing `Value` in the 1dsfm result is represented by `None` in the returned entries.
-        
+
         The scenario below will lead to an outlier configuration -- all edges to the node 4 will be rejected
         as outliers, so that Value cannot be cast to Point3 -- it is returned as None.
-        
+
         This test ensures that 1dsfm checks if each Value exists in 1dsfm result, before casting it to a Point3.
         """
         # fmt: off
@@ -218,7 +270,7 @@ def test_outlier_case_missing_value(self) -> None:
             (3, 4): np.array([0.994791, -0.033332, -0.0963361]),
         }
         i2Ui1_input = {(i, j): Unit3(t) for (i, j), t in i2Ui1_input.items()}
-        wti_computed, _ = self.obj.run(len(wRi_input), i2Ui1_input, wRi_input)
+        wti_computed, _ = self.obj.run_translation_averaging(len(wRi_input), i2Ui1_input, wRi_input)
 
         assert len(wti_computed) == 5
         assert wti_computed[-1] is None
diff --git a/tests/bundle/test_bundle_adjustment.py b/tests/bundle/test_bundle_adjustment.py
index 2ea5c5f63..954e45fb9 100644
--- a/tests/bundle/test_bundle_adjustment.py
+++ b/tests/bundle/test_bundle_adjustment.py
@@ -29,7 +29,7 @@ def setUp(self):
     # def test_simple_scene(self):
     #     """Test the simple scene using the `run` API."""
 
-    #     computed_result = self.ba.run(self.test_data)
+    #     computed_result = self.ba.run_ba(self.test_data)
 
     #     expected_error = 0.046137573704557046
 
@@ -42,7 +42,7 @@ def test_create_computation_graph(self):
         absolute_pose_priors = [None] * EXAMPLE_DATA.number_images()
         relative_pose_priors = {}
 
-        expected_result, _, _ = self.ba.run(
+        expected_result, _, _ = self.ba.run_ba(
             self.test_data, absolute_pose_priors=absolute_pose_priors, relative_pose_priors=relative_pose_priors
         )
 
diff --git a/tests/data/exp07/constraints.txt b/tests/data/exp07/constraints.txt
new file mode 100644
index 000000000..6cc7b3a1d
--- /dev/null
+++ b/tests/data/exp07/constraints.txt
@@ -0,0 +1,10328 @@
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diff --git a/tests/data/exp07/fastlio_odom.txt b/tests/data/exp07/fastlio_odom.txt
new file mode 100644
index 000000000..fa15bda0a
--- /dev/null
+++ b/tests/data/exp07/fastlio_odom.txt
@@ -0,0 +1,1319 @@
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diff --git a/tests/data_association/test_data_association.py b/tests/data_association/test_data_association.py
index 0fe7d0026..621cb2e3f 100644
--- a/tests/data_association/test_data_association.py
+++ b/tests/data_association/test_data_association.py
@@ -137,7 +137,7 @@ def verify_triangulation_sharedCal_2poses(self, triangulation_mode: Triangulatio
             reproj_error_threshold=5, mode=triangulation_mode, min_num_hypotheses=20
         )
         da = DataAssociation(min_track_len=3, triangulation_options=triangulation_options)
-        triangulated_landmark_map, _ = da.run(
+        triangulated_landmark_map, _ = da.run_da(
             len(cameras),
             cameras,
             matches_dict,
@@ -176,7 +176,7 @@ def test_triangulation_individualCal_without_ransac(self):
         triangulation_options = TriangulationOptions(reproj_error_threshold=5, mode=TriangulationSamplingMode.NO_RANSAC)
         da = DataAssociation(min_track_len=2, triangulation_options=triangulation_options)
 
-        sfm_data, _ = da.run(
+        sfm_data, _ = da.run_da(
             len(cameras), cameras, matches_dict, keypoints_list, [None] * len(cameras), relative_pose_priors={}
         )
         estimated_landmark = sfm_data.get_track(0).point3()
@@ -226,7 +226,7 @@ def verify_triangulation_sharedCal_3poses(self, triangulation_mode: Triangulatio
             reproj_error_threshold=5, mode=triangulation_mode, min_num_hypotheses=20
         )
         da = DataAssociation(min_track_len=3, triangulation_options=triangulation_options)
-        sfm_data, _ = da.run(
+        sfm_data, _ = da.run_da(
             len(cameras),
             cameras,
             matches_dict,
@@ -265,7 +265,7 @@ def test_data_association_with_missing_camera(self):
 
         # will lead to a cheirality exception because keypoints are identical in two cameras
         # no track will be formed, and thus connected component will be empty
-        sfm_data, _ = da.run(
+        sfm_data, _ = da.run_da(
             num_images=3,
             cameras=cameras,
             corr_idxs_dict=corr_idxs_dict,
@@ -298,7 +298,7 @@ def test_create_computation_graph(self):
             reproj_error_threshold=5, mode=TriangulationSamplingMode.RANSAC_TOPK_BASELINES, min_num_hypotheses=20
         )
         da = DataAssociation(min_track_len=3, triangulation_options=triangulation_options)
-        expected_sfm_data, expected_metrics = da.run(
+        expected_sfm_data, expected_metrics = da.run_da(
             len(cameras), cameras, corr_idxs_graph, keypoints_list, cameras_gt=cameras_gt, relative_pose_priors={}
         )
 
diff --git a/tests/loader/test_hilti_loader.py b/tests/loader/test_hilti_loader.py
index abe1d6f65..514ddc47d 100644
--- a/tests/loader/test_hilti_loader.py
+++ b/tests/loader/test_hilti_loader.py
@@ -4,14 +4,75 @@
 """
 import unittest
 from pathlib import Path
+from typing import Iterable, List, Tuple
 
 import numpy as np
+from gtsam import (
+    BetweenFactorPose3,
+    InitializePose3,
+    LevenbergMarquardtOptimizer,
+    NonlinearFactorGraph,
+    Point3,
+    Pose3,
+    PriorFactorPose3,
+    Rot3,
+    Values,
+    noiseModel,
+)
 
-import gtsfm.utils.geometry_comparisons as comp_utils
+from gtsfm.common.constraint import Constraint
 from gtsfm.loader.hilti_loader import HiltiLoader
 
 DATA_ROOT_PATH = Path(__file__).resolve().parent.parent / "data"
 TEST_DATASET_DIR_PATH = DATA_ROOT_PATH / "hilti_exp4_small"
+EXP07_PATH = DATA_ROOT_PATH / "exp07"
+
+
+def pose_of_vector(pose_vector):
+    """Convert from vector to Pose3"""
+    pose_rotation = Rot3(pose_vector[-1], pose_vector[3], pose_vector[4], pose_vector[5])
+    pose_translation = Point3(pose_vector[:3])
+    return Pose3(pose_rotation, pose_translation)
+
+
+def create_initial_estimate(poses: List[Pose3]):
+    """Create initial estimate"""
+    initial_estimate = Values()
+    for i, pose_vector in enumerate(poses):
+        initial_estimate.insert(i, pose_vector)
+    return initial_estimate
+
+
+def read_fastlio_result(poses_txt_path: str) -> Tuple[List[Pose3], np.ndarray]:
+    """
+    Read FastLIO result
+    Args:
+        1. The poses txt file path
+        2. The covariance txt file path
+    Returns:
+        1. (poses, covariances)
+    """
+    # remove timestamp column from txt
+    poses = np.loadtxt(poses_txt_path)[:, 1:]
+    timestamps = np.loadtxt(poses_txt_path)[:, 0]
+    return [pose_of_vector(pose) for pose in poses], timestamps
+
+
+def generate_pose_graph(poses: List[Pose3], constraints: Iterable[Constraint]):
+    """Generate pose graph."""
+    graph = NonlinearFactorGraph()
+
+    # Add the prior factor to the initial pose.
+    prior_pose_factor = PriorFactorPose3(0, poses[0], noiseModel.Isotropic.Sigma(6, 5e-2))
+    graph.add(prior_pose_factor)
+
+    # Add pose priors
+    for c in constraints:
+        measurement_noise = noiseModel.Gaussian.Covariance(c.cov)
+        factor_aTb = BetweenFactorPose3(c.a, c.b, c.aTb, measurement_noise)
+        graph.add(factor_aTb)
+
+    return graph
 
 
 class TestHiltiLoader(unittest.TestCase):
@@ -48,66 +109,151 @@ def test_number_of_absolute_pose_priors(self) -> None:
         for i in range(len(self.loader)):
             if self.loader.get_absolute_pose_prior(i) is not None:
                 num_valid_priors += 1
-            else:
-                print(f"not found for i={i}")
-
-        # assert all poses have absolute pose priors
-        self.assertEqual(num_valid_priors, len(self.loader))
 
-    def test_get_absolute_pose_priors(self) -> None:
-        # starting frames have no camera movement
-        t0_cam0_prior = self.loader.get_absolute_pose_prior(0)
-        t1_cam0_prior = self.loader.get_absolute_pose_prior(5)
+        # assert no index should have pose prior
+        self.assertEqual(num_valid_priors, 0)
 
-        self.assertLessEqual(
-            comp_utils.compute_relative_rotation_angle(t0_cam0_prior.value.rotation(), t1_cam0_prior.value.rotation()),
-            2,
-        )
+    def test_number_of_relative_pose_priors_without_subsampling(self) -> None:
+        """Check that 3 relative constraints translate into many relative pose priors."""
+        expected = [
+            # rig 0
+            (0, 2),
+            (1, 2),
+            (2, 3),
+            (2, 4),
+            (2, 7),
+            (2, 12),
+            # rig 1
+            (5, 7),
+            (6, 7),
+            (7, 8),
+            (7, 9),
+            (7, 12),
+            # rig 2
+            (10, 12),
+            (11, 12),
+            (12, 13),
+            (12, 14),
+        ]
+        expected.sort()
+        # Check that "stars" have been added
+        relative_pose_priors = self.loader.get_relative_pose_priors()
+        actual = list(relative_pose_priors.keys())
+        actual.sort()
+        self.assertEqual(len(actual), len(expected))
+        self.assertEqual(actual, expected)
 
-        self.assertLessEqual(
-            np.linalg.norm(t0_cam0_prior.value.translation() - t1_cam0_prior.value.translation()), 0.01
+    def test_covariance_filtered_constraints(self) -> None:
+        """Check that outlier filtering works."""
+        loader = HiltiLoader(
+            base_folder=str(TEST_DATASET_DIR_PATH),
+            max_length=None,
+            subsample=2,
         )
+        all_constraints = loader._load_constraints()
 
-        # self.assertLessEqual(
-        #     comp_utils.compute_relative_unit_translation_angle(
-        #         Unit3(t0_cam0_prior.value.translation()), Unit3(t1_cam0_prior.value.translation())
-        #     ),
-        #     2,
-        # )
+        expected = [(0, 1), (0, 2), (1, 2)]
+        expected.sort()
+        actual = [(c.a, c.b) for c in loader._covariance_filtered_constraints(all_constraints)]
+        actual.sort()
+        self.assertEqual(actual, expected)
 
-    def test_number_of_relative_pose_priors(self) -> None:
+    def test_number_of_relative_pose_priors_with_subsampling(self) -> None:
         """Check that 3 relative constraints translate into many relative pose priors."""
-        # Just give 3 pairs
-        pairs = [
-            (0, 1),
-            (0, 3),
-            (0, 5),
-        ]
+        loader = HiltiLoader(
+            base_folder=str(TEST_DATASET_DIR_PATH),
+            max_length=None,
+            subsample=2,
+        )
+
         expected = [
-            (0, 1),
-            (0, 3),
-            (0, 5),
-            (2, 0),
-            (2, 1),
+            # rig 0
+            (0, 2),
+            (1, 2),
             (2, 3),
             (2, 4),
-            (7, 5),
-            (7, 6),
-            (7, 8),
-            (7, 9),
-            (12, 10),
-            (12, 11),
+            (2, 7),
+            (2, 12),
+            # rig 1
+            (7, 12),
+            # rig 2
+            (10, 12),
+            (11, 12),
             (12, 13),
             (12, 14),
         ]
         expected.sort()
         # Check that "stars" have been added
-        relative_pose_priors = self.loader.get_relative_pose_priors(pairs)
+        relative_pose_priors = loader.get_relative_pose_priors()
         actual = list(relative_pose_priors.keys())
         actual.sort()
-        self.assertEqual(len(actual), len(pairs) + 3 * 4)
         self.assertEqual(actual, expected)
 
+    def test_filters_constraints(self) -> None:
+        constraints = [
+            Constraint(0, 1, Pose3(Rot3(), Point3(5, 0, 0)), cov=np.zeros((6, 6))),  # outlier, has both 2 & 3 step
+            Constraint(2, 1, Pose3(Rot3(), Point3(-1, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(2, 3, Pose3(Rot3(), Point3(4, 0, 0)), cov=np.zeros((6, 6))),  # outlier, only 3 step
+            Constraint(3, 4, Pose3(Rot3(), Point3(3, 0, 0)), cov=np.zeros((6, 6))),  # outlier, only 2 step
+            Constraint(4, 5, Pose3(Rot3(), Point3(1, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(2, 0, Pose3(Rot3(), Point3(-2, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(1, 3, Pose3(Rot3(), Point3(2, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(3, 5, Pose3(Rot3(), Point3(2, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(0, 3, Pose3(Rot3(), Point3(3, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(1, 4, Pose3(Rot3(), Point3(3, 0, 0)), cov=np.zeros((6, 6))),
+            Constraint(2, 5, Pose3(Rot3(), Point3(3, 0, 0)), cov=np.zeros((6, 6))),
+        ]
+
+        expected_outliers = [(0, 1), (2, 3), (3, 4)]
+
+        filtered = HiltiLoader._filter_outlier_constraints(constraints)
+        outlier_keys = [(c.a, c.b) for c in filtered if c.cov[0, 0] > np.deg2rad(10)]
+        self.assertSetEqual(set(outlier_keys), set(expected_outliers))
+
+    def test_updates_stationary_constraints(self) -> None:
+        constraints = [
+            Constraint(0, 1, Pose3(Rot3(), Point3(5, 0, 0))),
+            Constraint(2, 1, Pose3(Rot3(), Point3(0.01, 0, 0))),  # stationary
+            Constraint(2, 3, Pose3(Rot3(), Point3(0, 0.01, 0))),  # stationary
+            Constraint(3, 4, Pose3(Rot3(), Point3(3, 0, 0))),
+            Constraint(4, 5, Pose3(Rot3.Rz(np.deg2rad(20)), Point3(0, 0, 0))),
+        ]
+        updated_constraints = HiltiLoader._update_stationary_constraints(constraints)
+        zero_keys = [(c.a, c.b) for c in updated_constraints if c.aTb.equals(Pose3(), 1e-4)]
+        self.assertSetEqual(set([(2, 1), (2, 3)]), set(zero_keys))
+
+    def test_filter_constraints(self) -> None:
+        """Check that filtering and then doing pose slam on exp07 works as in notebook."""
+        # Read constraints and poses from file.
+        ws = Path(EXP07_PATH)
+        poses_txt_path = ws / "fastlio_odom.txt"
+        constraint_txt_path = ws / "constraints.txt"
+        poses, _ = read_fastlio_result(str(poses_txt_path))
+        constraints = Constraint.read(str(constraint_txt_path))
+        self.assertEqual(len(poses), 1319)
+        self.assertEqual(len(constraints), 10328)
+
+        # Create graph.
+        filtered_constraints = list(HiltiLoader._covariance_filtered_constraints(constraints))
+        filtered_constraints = HiltiLoader._filter_outlier_constraints(filtered_constraints)
+        graph = generate_pose_graph(poses, filtered_constraints)
+        self.assertEqual(graph.size(), 10328)
+
+        # Check initial error.
+        initial_estimate = create_initial_estimate(poses)
+        self.assertAlmostEqual(graph.error(initial_estimate), 60807.0197569433)
+
+        # Check that we can initialize with Pose3Initialize
+        # TODO(Frank): this is still high, and an outlier is certainly present
+        initial_estimate2 = InitializePose3.initialize(graph)
+        self.assertAlmostEqual(graph.error(initial_estimate2), 3390522.412178782, places=1)
+
+        # Optimize and Check final error.
+        optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate2)
+        result = optimizer.optimize()
+        final_error = graph.error(result)
+        self.assertAlmostEqual(final_error, 27083.849612680227, places=1)
+
 
 if __name__ == "__main__":
     unittest.main()
diff --git a/tests/loader/test_olsson_loader.py b/tests/loader/test_olsson_loader.py
index 1a755767f..b459f2270 100644
--- a/tests/loader/test_olsson_loader.py
+++ b/tests/loader/test_olsson_loader.py
@@ -63,7 +63,7 @@ def test_image_contents(self) -> None:
         index_to_test = 5
         file_path = DEFAULT_FOLDER / "images" / "DSC_0006.JPG"
         loader_image = self.loader.get_image_full_res(index_to_test)
-        expected_image = io_utils.load_image(file_path)
+        expected_image = io_utils.load_image(str(file_path))
         np.testing.assert_allclose(expected_image.value_array, loader_image.value_array)
 
     def test_get_camera_pose_exists(self) -> None:
@@ -104,14 +104,14 @@ def test_get_camera_intrinsics_explicit(self) -> None:
 
     def test_get_camera_intrinsics_exif(self) -> None:
         """Tests getter for intrinsics when explicit numpy arrays are absent and we fall back on exif."""
-        loader = OlssonLoader(EXIF_FOLDER, image_extension="JPG", use_gt_intrinsics=False)
+        loader = OlssonLoader(str(EXIF_FOLDER), image_extension="JPG", use_gt_intrinsics=False)
         computed = loader.get_camera_intrinsics_full_res(5)
         expected = Cal3Bundler(fx=2378.983, k1=0, k2=0, u0=648.0, v0=968.0)
         self.assertTrue(expected.equals(computed, 1e-3))
 
     def test_get_camera_intrinsics_missing(self) -> None:
         """Tests getter for intrinsics when explicit numpy arrays are absent, exif is missing, and we raise an error."""
-        loader = OlssonLoader(NO_EXIF_FOLDER, image_extension="JPG")
+        loader = OlssonLoader(str(NO_EXIF_FOLDER), image_extension="JPG")
         with pytest.raises(ValueError):
             _ = loader.get_camera_intrinsics(5)
 
diff --git a/tests/pose_slam/test_pose_slam.py b/tests/pose_slam/test_pose_slam.py
new file mode 100644
index 000000000..a89b55598
--- /dev/null
+++ b/tests/pose_slam/test_pose_slam.py
@@ -0,0 +1,56 @@
+"""Tests for the PoseSlam module.
+
+Authors: Akshay Krishnan, Frank Dellaert
+"""
+import unittest
+from typing import Dict, List, Optional, Tuple
+
+import numpy as np
+from dask.delayed import Delayed
+from gtsam import Point3, Pose3, Rot3
+from gtsam.utils.test_case import GtsamTestCase
+
+from gtsfm.common.pose_prior import PosePrior, PosePriorType
+from gtsfm.pose_slam.pose_slam import PoseSlam
+
+
+class TestPoseSlam(GtsamTestCase):
+    """Test class for 1DSFM rotation averaging."""
+
+    def setUp(self) -> None:
+        super().setUp()
+
+        self.slam: PoseSlam = PoseSlam()
+
+    def test_run_pose_slam(self) -> None:
+        """Check that a simple pose graph works."""
+        sigma = np.deg2rad(5)
+        cov = np.diag([sigma, sigma, sigma, 0.1, 0.1, 0.1])
+        relative_pose_priors = {
+            (0, 1): PosePrior(Pose3(Rot3(), Point3(1, 0, 0)), cov, type=PosePriorType.SOFT_CONSTRAINT),
+            (0, 2): PosePrior(Pose3(Rot3(), Point3(2, 0, 0)), cov, type=PosePriorType.SOFT_CONSTRAINT),
+            (1, 2): PosePrior(Pose3(Rot3(), Point3(1, 0, 0)), cov, type=PosePriorType.SOFT_CONSTRAINT),
+        }
+
+        gt_wTi_list = [None, None, None]
+        poses, _ = self.slam.run_pose_slam(3, relative_pose_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list)
+        self.assertEqual(len(poses), 3)
+        for pose in poses:
+            self.assertIsInstance(pose, Pose3)
+        self.gtsamAssertEquals(poses[0], Pose3())
+        self.gtsamAssertEquals(poses[1], Pose3(Rot3(), Point3(1, 0, 0)))
+        self.gtsamAssertEquals(poses[2], Pose3(Rot3(), Point3(2, 0, 0)))
+
+    def test_create_computation_graph(self) -> None:
+        """Check that the interface works."""
+        relative_pose_priors: Dict[Tuple[int, int], PosePrior] = {}
+        gt_wTi_list: Optional[List[Optional[Pose3]]] = [None, None, None]
+        delayed_poses, metrics = self.slam.create_computation_graph(
+            3, relative_pose_priors=relative_pose_priors, gt_wTi_list=gt_wTi_list
+        )
+        self.assertIsInstance(delayed_poses, Delayed)
+        self.assertIsInstance(metrics, Delayed)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/tests/repro_tests/averaging/rotation/test_shonan_reproducibility.py b/tests/repro_tests/averaging/rotation/test_shonan_reproducibility.py
index 2659c5b41..bba181f78 100644
--- a/tests/repro_tests/averaging/rotation/test_shonan_reproducibility.py
+++ b/tests/repro_tests/averaging/rotation/test_shonan_reproducibility.py
@@ -27,11 +27,13 @@ def setUp(self) -> None:
         super().setUp()
         with open(str(RELATIVE_ROTATIONS_PATH), "rb") as f:
             self._input: Dict[Tuple[int, int], Rot3] = pickle.load(f)
-        self._priors = {edge: None for edge in self._input.keys()}
+        self._priors = {}
         self._shonan_obj: RotationAveragingBase = ShonanRotationAveraging()
 
     def run_once(self) -> List[Optional[Rot3]]:
-        return self._shonan_obj.run(num_images=NUM_IMAGES_IN_INPUT, i2Ri1_dict=self._input, i2Ri1_priors=self._priors)
+        return self._shonan_obj.run_rotation_averaging(
+            num_images=NUM_IMAGES_IN_INPUT, i2Ri1_dict=self._input, relative_pose_priors=self._priors
+        )
 
     def assert_results(self, results_a: List[Optional[Rot3]], results_b: List[Optional[Rot3]]) -> None:
         self.assertTrue(geometry_comparisons.compare_rotations(results_a, results_b, ROT3_DIFF_ANGLE_THRESHOLD_DEG))
diff --git a/tests/repro_tests/averaging/translation/test_1dsfm_reproducibility.py b/tests/repro_tests/averaging/translation/test_1dsfm_reproducibility.py
index b6aa3653d..0f27a23c7 100644
--- a/tests/repro_tests/averaging/translation/test_1dsfm_reproducibility.py
+++ b/tests/repro_tests/averaging/translation/test_1dsfm_reproducibility.py
@@ -8,7 +8,7 @@
 from typing import Dict, List, Optional, Set, Tuple
 
 import gtsam
-from gtsam import BinaryMeasurementsUnit3, Point3, Pose3, Rot3, Unit3
+from gtsam import BinaryMeasurementsUnit3, Pose3, Rot3, Unit3
 
 import gtsfm.averaging.translation.averaging_1dsfm as averaging_1dsfm
 import gtsfm.utils.geometry_comparisons as geometry_comparisons
@@ -36,17 +36,15 @@ def setUp(self) -> None:
         with open(str(GLOBAL_ROTATIONS_PATH), "rb") as f:
             self._global_rotations_input: List[Optional[Rot3]] = pickle.load(f)
 
-    def run_once(self) -> List[Optional[Point3]]:
-        return self._1dsfm_obj.run(
+    def run_once(self) -> List[Optional[Pose3]]:
+        return self._1dsfm_obj.run_translation_averaging(
             num_images=NUM_IMAGES_IN_INPUT,
             i2Ui1_dict=self._relative_unit_translations_input,
             wRi_list=self._global_rotations_input,
         )[0]
 
-    def assert_results(self, results_a: List[Optional[Point3]], results_b: List[Optional[Point3]]) -> None:
-        poses_a = [Pose3(R, t) if t is not None else None for R, t in zip(self._global_rotations_input, results_a)]
-        poses_b = [Pose3(R, t) if t is not None else None for R, t in zip(self._global_rotations_input, results_b)]
-        self.assertTrue(geometry_comparisons.compare_global_poses(poses_a, poses_b))
+    def assert_results(self, results_a: List[Optional[Pose3]], results_b: List[Optional[Pose3]]) -> None:
+        self.assertTrue(geometry_comparisons.compare_global_poses(results_a, results_b))
 
 
 class Test1DSFMInlierMaskReproducibility(ReproducibilityTestBase, unittest.TestCase):
diff --git a/tests/retriever/test_rig_retriever.py b/tests/retriever/test_rig_retriever.py
index a32e157ca..5da4814c9 100644
--- a/tests/retriever/test_rig_retriever.py
+++ b/tests/retriever/test_rig_retriever.py
@@ -16,9 +16,8 @@
 class TestRigRetriever(unittest.TestCase):
     def test_rig_retriever(self) -> None:
         """Assert that we can parse a constraints file from the Hilti SLAM team and get constraints."""
-
         loader = HiltiLoader(TEST_DATASET_DIR_PATH)
-        retriever = RigRetriever(threshold=30)
+        retriever = RigRetriever(subsample=1, threshold=30)
 
         pairs = retriever.run(loader=loader)
         # We know these to be the right values from setUp() method.
@@ -71,6 +70,35 @@ def test_rig_retriever(self) -> None:
         ]  # regression
         self.assertEqual(pairs, expected)
 
+    def test_rig_retriever_with_subsample(self) -> None:
+        """Assert that we can parse a constraints file from the Hilti SLAM team and get constraints."""
+
+        loader = HiltiLoader(TEST_DATASET_DIR_PATH, subsample=2)
+        retriever = RigRetriever(threshold=30, subsample=2)
+
+        pairs = retriever.run(loader=loader)
+        # We know these to be the right values from setUp() method.
+        expected = [
+            (0, 1),
+            (0, 3),
+            (0, 10),
+            (0, 11),
+            (0, 14),
+            (1, 4),
+            (1, 10),
+            (1, 11),
+            (1, 14),
+            (2, 12),
+            (3, 13),
+            (4, 10),
+            (4, 11),
+            (4, 14),
+            (10, 11),
+            (10, 13),
+            (11, 14),
+        ]  # regression
+        self.assertEqual(pairs, expected)
+
 
 if __name__ == "__main__":
     unittest.main()
diff --git a/tests/retriever/test_sequential_hilti_retriever.py b/tests/retriever/test_sequential_hilti_retriever.py
index 99cf8909e..e8142e078 100644
--- a/tests/retriever/test_sequential_hilti_retriever.py
+++ b/tests/retriever/test_sequential_hilti_retriever.py
@@ -17,7 +17,7 @@ class TestSequentialHiltiRetriever(unittest.TestCase):
     def test_sequential_retriever(self) -> None:
         """Assert that we get 30 total matches with a lookahead of 3 frames on the Door Dataset."""
 
-        loader = HiltiLoader(TEST_DATASET_DIR_PATH)
+        loader = HiltiLoader(base_folder=str(TEST_DATASET_DIR_PATH))
         max_frame_lookahead = 3
         retriever = SequentialHiltiRetriever(max_frame_lookahead=max_frame_lookahead)
         pairs = retriever.run(loader=loader)
diff --git a/tests/test_scene_optimizer.py b/tests/test_scene_optimizer.py
index cbce6739d..c6a77daef 100644
--- a/tests/test_scene_optimizer.py
+++ b/tests/test_scene_optimizer.py
@@ -39,23 +39,17 @@ def test_create_computation_graph(self):
 
             # generate the dask computation graph
             delayed_sfm_result, delayed_io = scene_optimizer.create_computation_graph(
-                num_images=len(self.loader),
-                image_pair_indices=self.loader.get_valid_pairs(),
-                image_graph=self.loader.create_computation_graph_for_images(),
-                all_intrinsics=self.loader.get_all_intrinsics(),
-                image_shapes=self.loader.get_image_shapes(),
+                self.loader,
+                self.loader.create_computation_graph_for_images(),
+                image_pair_indices=self.loader.get_valid_pairs(),  # TODO: replace with retriever
                 absolute_pose_priors=self.loader.get_absolute_pose_priors(),
-                relative_pose_priors=self.loader.get_relative_pose_priors(
-                    self.loader.get_valid_pairs()
-                ),
-                cameras_gt=self.loader.get_gt_cameras(),
-                gt_wTi_list=self.loader.get_gt_poses(),
+                relative_pose_priors=self.loader.get_relative_pose_priors(),
             )
             # create dask client
             cluster = LocalCluster(n_workers=1, threads_per_worker=4)
 
             with Client(cluster):
-                sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io)
+                sfm_result, *io = dask.compute(delayed_sfm_result, *delayed_io.values())
 
             self.assertIsInstance(sfm_result, GtsfmData)
 
diff --git a/tests/utils/test_geometry_comparisons.py b/tests/utils/test_geometry_comparisons.py
index 0bc64eb72..21131260b 100644
--- a/tests/utils/test_geometry_comparisons.py
+++ b/tests/utils/test_geometry_comparisons.py
@@ -11,7 +11,7 @@
 from gtsam.examples import SFMdata
 
 import gtsfm.utils.geometry_comparisons as geometry_comparisons
-import tests.data.sample_poses as sample_poses
+import gtsfm.utils.sample_poses as sample_poses
 
 POSE_LIST = SFMdata.createPoses(Cal3_S2())
 
diff --git a/tests/utils/test_io_utils.py b/tests/utils/test_io_utils.py
index f4eab7d99..032eed3a6 100644
--- a/tests/utils/test_io_utils.py
+++ b/tests/utils/test_io_utils.py
@@ -125,7 +125,7 @@ def test_round_trip_images_txt(self) -> None:
         with tempfile.TemporaryDirectory() as tempdir:
             images_fpath = os.path.join(tempdir, "images.txt")
 
-            io_utils.write_images(gtsfm_data, images, tempdir)
+            io_utils.write_images(gtsfm_data, [image.file_name for image in images], tempdir)
             wTi_list, _ = io_utils.read_images_txt(images_fpath)
             recovered_wTc = wTi_list[0]
 
@@ -156,7 +156,7 @@ def test_round_trip_cameras_txt(self) -> None:
         with tempfile.TemporaryDirectory() as tempdir:
             cameras_fpath = os.path.join(tempdir, "cameras.txt")
 
-            io_utils.write_cameras(gtsfm_data, images, tempdir)
+            io_utils.write_cameras(gtsfm_data, [(image.height, image.width) for image in images], tempdir)
             recovered_calibrations = io_utils.read_cameras_txt(cameras_fpath)
 
         self.assertEqual(len(original_calibrations), len(recovered_calibrations))
diff --git a/tests/utils/test_reprojection.py b/tests/utils/test_reprojection.py
index c4fb3a88f..b344dda54 100644
--- a/tests/utils/test_reprojection.py
+++ b/tests/utils/test_reprojection.py
@@ -1,88 +1,96 @@
 import numpy as np
-from gtsam import Cal3Bundler, Rot3, PinholeCameraCal3Bundler, Pose3, SfmTrack
+import unittest
 
-from gtsfm.common.sfm_track import SfmMeasurement
 import gtsfm.utils.reprojection as reproj_utils
+from gtsam import Cal3Bundler, PinholeCameraCal3Bundler, Pose3, Rot3, SfmTrack
+from gtsfm.common.sfm_track import SfmMeasurement
 
 
-def test_compute_track_reprojection_errors():
-    """Ensure that reprojection error is computed properly within a track.
-
-    # For camera 0:
-    # [13] = [10,0,3]   [1,0,0 | 0]  [1]
-    # [24] = [0,10,4] * [0,1,0 | 0] *[2]
-    #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
-    #                                [1]
-
-    # For camera 1:
-    # [-7] = [10,0,3]   [1,0,0 |-2]  [1]
-    # [44] = [0,10,4] * [0,1,0 | 2] *[2]
-    #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
-    #                                [1]
-    """
-    wTi0 = Pose3(Rot3.RzRyRx(0, 0, 0), np.zeros((3, 1)))
-    wTi1 = Pose3(Rot3.RzRyRx(0, 0, 0), np.array([2, -2, 0]))
-
-    f = 10
-    k1 = 0
-    k2 = 0
-    u0 = 3
-    v0 = 4
-
-    K0 = Cal3Bundler(f, k1, k2, u0, v0)
-    K1 = Cal3Bundler(f, k1, k2, u0, v0)
-
-    track_camera_dict = {0: PinholeCameraCal3Bundler(wTi0, K0), 1: PinholeCameraCal3Bundler(wTi1, K1)}
-
-    triangulated_pt = np.array([1, 2, 1])
-    track_3d = SfmTrack(triangulated_pt)
-
-    # in camera 0
-    track_3d.addMeasurement(idx=0, m=np.array([13, 24]))
-    # in camera 1
-    track_3d.addMeasurement(idx=1, m=np.array([-8, 43]))  # should be (-7,44), 1 px error in each dim
-
-    errors, avg_track_reproj_error = reproj_utils.compute_track_reprojection_errors(track_camera_dict, track_3d)
-
-    expected_errors = np.array([0, np.sqrt(2)])
-    np.testing.assert_allclose(errors, expected_errors)
-    assert avg_track_reproj_error == np.sqrt(2) / 2
-
-
-def test_compute_point_reprojection_errors():
-    """Ensure a hypothesized 3d point is projected correctly and compared w/ 2 measurements.
-    # For camera 0:
-    # [13] = [10,0,3]   [1,0,0 | 0]  [1]
-    # [24] = [0,10,4] * [0,1,0 | 0] *[2]
-    #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
-    #                                [1]
-
-    # For camera 1:
-    # [-7] = [10,0,3]   [1,0,0 |-2]  [1]
-    # [44] = [0,10,4] * [0,1,0 | 2] *[2]
-    #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
-    #                                [1]
-    """
-    wTi0 = Pose3(Rot3.RzRyRx(0, 0, 0), np.zeros((3, 1)))
-    wTi1 = Pose3(Rot3.RzRyRx(0, 0, 0), np.array([2, -2, 0]))
-
-    f = 10
-    k1 = 0
-    k2 = 0
-    u0 = 3
-    v0 = 4
-
-    K0 = Cal3Bundler(f, k1, k2, u0, v0)
-    K1 = Cal3Bundler(f, k1, k2, u0, v0)
-
-    track_camera_dict = {0: PinholeCameraCal3Bundler(wTi0, K0), 1: PinholeCameraCal3Bundler(wTi1, K1)}
-    point3d = np.array([1, 2, 1])
-    measurements = [SfmMeasurement(i=1, uv=np.array([-8, 43])), SfmMeasurement(i=0, uv=np.array([13, 24]))]
-
-    errors, avg_track_reproj_error = reproj_utils.compute_point_reprojection_errors(
-        track_camera_dict, point3d, measurements
-    )
-    expected_errors = np.array([np.sqrt(2), 0])
-    np.testing.assert_allclose(errors, expected_errors)
-    assert avg_track_reproj_error == np.sqrt(2) / 2
-
+class TestReprojection(unittest.TestCase):
+    def test_compute_track_reprojection_errors(self):
+        """Ensure that reprojection error is computed properly within a track.
+
+        # For camera 0:
+        # [13] = [10,0,3]   [1,0,0 | 0]  [1]
+        # [24] = [0,10,4] * [0,1,0 | 0] *[2]
+        #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
+        #                                [1]
+
+        # For camera 1:
+        # [-7] = [10,0,3]   [1,0,0 |-2]  [1]
+        # [44] = [0,10,4] * [0,1,0 | 2] *[2]
+        #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
+        #                                [1]
+        """
+        wTi0 = Pose3(Rot3.RzRyRx(0, 0, 0), np.zeros((3, 1)))
+        wTi1 = Pose3(Rot3.RzRyRx(0, 0, 0), np.array([2, -2, 0]))
+
+        f = 10
+        k1 = 0
+        k2 = 0
+        u0 = 3
+        v0 = 4
+
+        K0 = Cal3Bundler(f, k1, k2, u0, v0)
+        K1 = Cal3Bundler(f, k1, k2, u0, v0)
+
+        track_camera_dict = {0: PinholeCameraCal3Bundler(wTi0, K0), 1: PinholeCameraCal3Bundler(wTi1, K1)}
+
+        triangulated_pt = np.array([1, 2, 1])
+        track_3d = SfmTrack(triangulated_pt)
+
+        # in camera 0
+        track_3d.addMeasurement(idx=0, m=np.array([13, 24]))
+        # in camera 1
+        track_3d.addMeasurement(idx=1, m=np.array([-8, 43]))  # should be (-7,44), 1 px error in each dim
+
+        errors, avg_track_reproj_error = reproj_utils.compute_track_reprojection_errors(track_camera_dict, track_3d)
+
+        expected_errors = np.array([0, np.sqrt(2)])
+        np.testing.assert_allclose(errors, expected_errors)
+        assert avg_track_reproj_error == np.sqrt(2) / 2
+
+    def test_compute_point_reprojection_errors(self):
+        """Ensure a hypothesized 3d point is projected correctly and compared w/ 2 measurements.
+        # For camera 0:
+        # [13] = [10,0,3]   [1,0,0 | 0]  [1]
+        # [24] = [0,10,4] * [0,1,0 | 0] *[2]
+        #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
+        #                                [1]
+
+        # For camera 1:
+        # [-7] = [10,0,3]   [1,0,0 |-2]  [1]
+        # [44] = [0,10,4] * [0,1,0 | 2] *[2]
+        #  [1] = [0, 0,1]   [0,0,1 | 0]  [1]
+        #                                [1]
+        """
+        wTi0 = Pose3(Rot3.RzRyRx(0, 0, 0), np.zeros((3, 1)))
+        wTi1 = Pose3(Rot3.RzRyRx(0, 0, 0), np.array([2, -2, 0]))
+
+        f = 10
+        k1 = 0
+        k2 = 0
+        u0 = 3
+        v0 = 4
+
+        K0 = Cal3Bundler(f, k1, k2, u0, v0)
+        K1 = Cal3Bundler(f, k1, k2, u0, v0)
+
+        track_camera_dict = {0: PinholeCameraCal3Bundler(wTi0, K0), 1: PinholeCameraCal3Bundler(wTi1, K1)}
+        point3d = np.array([1, 2, 1])
+        measurements = [
+            SfmMeasurement(i=1, uv=np.array([-8, 43])),
+            SfmMeasurement(i=2, uv=np.array([0, 0])),  # not in track_camera_dict!
+            SfmMeasurement(i=0, uv=np.array([13, 24])),
+        ]
+
+        errors, avg_track_reproj_error = reproj_utils.compute_point_reprojection_errors(
+            track_camera_dict, point3d, measurements
+        )
+        expected_errors = np.array([np.sqrt(2), np.nan, 0])
+        np.testing.assert_allclose(errors, expected_errors)
+        assert avg_track_reproj_error == np.sqrt(2) / 2
+
+
+if __name__ == "__main__":
+    unittest.main()