diff --git a/README.md b/README.md
index 7cb59408..4453d7c3 100644
--- a/README.md
+++ b/README.md
@@ -22,14 +22,15 @@ We provide two pre-trained weights files: an indoor model trained on ScanNet dat
 * PyTorch >= 1.1
 * OpenCV >= 3.4 (4.1.2.30 recommended for best GUI keyboard interaction, see this [note](#additional-notes))
 * Matplotlib >= 3.1
+* NumPy >= 1.18
 
-Simply run the following command: `pip3 install opencv-python torch matplotlib`
+Simply run the following command: `pip3 install numpy opencv-python torch matplotlib`
 
 ## Contents
 There are two main top-level scripts in this repo:
 
 1. `demo_superglue.py` : runs a live demo on a webcam, IP camera, image directory or movie file
-2. `match_pairs.py`: reads image pairs from files and dumps matches to disk (also runs evaluation if GT is provided)
+2. `match_pairs.py`: reads image pairs from files and dumps matches to disk (also runs evaluation if ground truth relative poses are provided)
 
 ## Live Matching Demo Script (`demo_superglue.py`)
 This demo runs SuperPoint + SuperGlue feature matching on an anchor image and live image. You can update the anchor image by pressing the `n` key. The demo can read image streams from a USB or IP camera, a directory containing images, or a video file. You can pass all of these inputs using the `--input` flag.
@@ -72,7 +73,7 @@ The matches are colored by their predicted confidence in a jet colormap (Red: mo
 
 ### Additional useful command line parameters
 * Use `--display_scale` to scale the output visualization image height and width (default: `1`).
-* Use `--img_glob` to change the image file extension (default: `*.png`, `*.jpg`, `*.jpeg`).
+* Use `--image_glob` to change the image file extension (default: `*.png`, `*.jpg`, `*.jpeg`).
 * Use `--skip` to skip intermediate frames (default: `1`).
 * Use `--show_keypoints` to visualize the detected keypoints (default: `False`).
 
@@ -86,7 +87,7 @@ This repo also contains a script `match_pairs.py` that runs the matching from a
 * Save the keypoints, matches, and evaluation results for further processing
 * Collate evaluation results over many pairs and generate result tables
 
-### Matches Only Mode
+### Matches only mode
 
 The simplest usage of this script will process the image pairs listed in a given text file and dump the keypoints and matches to compressed numpy `npz` files. We provide the challenging ScanNet pairs from the main paper in `assets/example_indoor_pairs/`. Running the following will run SuperPoint + SuperGlue on each image pair, and dump the results to `dump_match_pairs/`:
 
@@ -116,7 +117,7 @@ The resulting `.npz` files can be read from Python as follows:
 
 For each keypoint in `keypoints0`, the `matches` array indicates the index of the matching keypoint in `keypoints1`, or `-1` if the keypoint is unmatched.
 
-### Visualization Mode
+### Visualization mode
 
 You can add the flag `--viz` to dump image outputs which visualize the matches:
 
@@ -132,9 +133,9 @@ The matches are colored by their predicted confidence in a jet colormap (Red: mo
 
 ### Evaluation mode
 
-You can also estimate the pose using RANSAC + Essential Matrix decomposition and evaluate it if the ground truth relative poses and intrinsics are provided in the input `.txt` files. Each `.txt` file contains three key groundtruth matrices: a 3x3 intrinsics matrix of image0: `K0`, a 3x3 intrinsics matrix of image1: `K1` , and a 4x4 matrix of the relative pose extrinsics `T_0to1`.
+You can also estimate the pose using RANSAC + Essential Matrix decomposition and evaluate it if the ground truth relative poses and intrinsics are provided in the input `.txt` files. Each `.txt` file contains three key ground truth matrices: a 3x3 intrinsics matrix of image0: `K0`, a 3x3 intrinsics matrix of image1: `K1` , and a 4x4 matrix of the relative pose extrinsics `T_0to1`.
 
-To run the evaluation on the sample set of images (by default reading `assets/scannet_sample_pairs.txt`), you can run:
+To run the evaluation on the sample set of images (by default reading `assets/scannet_sample_pairs_with_gt.txt`), you can run:
 
 ```sh
 ./match_pairs.py --eval
@@ -175,7 +176,7 @@ The top left corner of the image shows the pose error and number of inliers, whi
 
 <details>
   <summary>[Click to expand]</summary>
-  
+
 In this repo, we also provide a few challenging Phototourism pairs, so that you can re-create some of the figures from the paper. Run this script to run matching and visualization (no ground truth is provided, see this [note](#reproducing-outdoor-evaluation-final-table)) on the provided pairs:
 
 ```sh
@@ -189,11 +190,11 @@ You should now image pairs such as these in `dump_match_pairs_outdoor/` (or some
 
 </details>
 
-### Recommended Settings for indoor / outdoor
+### Recommended settings for indoor / outdoor
 
 <details>
   <summary>[Click to expand]</summary>
-  
+
 For **indoor** images, we recommend the following settings (these are the defaults):
 
 ```sh
@@ -213,26 +214,25 @@ You can provide your own list of pairs `--pairs_list` for images contained in `-
 
 <details>
   <summary>[Click to expand]</summary>
-  
-We provide the list of ScanNet test pairs in `assets/scannet_test_pairs.txt` and Phototourism test pairs `assets/phototourism_test_pairs.txt` used to evaluate the matching from the paper. Each line corresponds to one pair and is structured as follows:
+
+We provide the list of ScanNet test pairs in `assets/scannet_test_pairs_with_gt.txt` (with ground truth) and Phototourism test pairs `assets/phototourism_test_pairs.txt` (without ground truth) used to evaluate the matching from the paper. Each line corresponds to one pair and is structured as follows:
 
 ```
-path_image_A path_image_B overlap exif_rotationA exif_rotationB [KA_0 ... KA_8] [KB_0 ... KB_8] [T_AB_0 ... T_AB_15]
+path_image_A path_image_B exif_rotationA exif_rotationB [KA_0 ... KA_8] [KB_0 ... KB_8] [T_AB_0 ... T_AB_15]
 ```
 
-
-The `path_image_A` and `path_image_B` entries are paths to image A and B, respectively. The `overlap` is a score that measures the image similarity/ viewpoint overlap. Higher means more overlap. If the overlap is unknown you can just provide 0., the overlap is not actually used during evalution. The `exif_rotation` is an integer in the range [0, 3] that comes from the original EXIF metadata associated with the image, where, 0: no rotation, 1: 90 degree clockwise, 2: 180 degree clockwise, 3: 270 degree clockwise. If the EXIF data is not known, you can just provide a zero here and no rotation will be performed. `KA` and `KB` are the flattened `3x3` matrices of image A and image B intrinsics. `T_AB` is a flattened `4x4` matrix of the extrinsics between the pair.
+The `path_image_A` and `path_image_B` entries are paths to image A and B, respectively. The `exif_rotation` is an integer in the range [0, 3] that comes from the original EXIF metadata associated with the image, where, 0: no rotation, 1: 90 degree clockwise, 2: 180 degree clockwise, 3: 270 degree clockwise. If the EXIF data is not known, you can just provide a zero here and no rotation will be performed. `KA` and `KB` are the flattened `3x3` matrices of image A and image B intrinsics. `T_AB` is a flattened `4x4` matrix of the extrinsics between the pair.
 </details>
 
-### Reproducing Indoor Evaluation Final Table
+### Reproducing indoor evaluation final table
 
 <details>
   <summary>[Click to expand]</summary>
-  
-In order to reproduce similar tables to what was in the paper, you will need to obtain the raw test set images (we do not include them in this repo). We list the scenes and images in `assets/scannet_test_images.txt`. We provide the groundtruth in our format in the file `assets/scannet_test_pairs.txt` for convenience. If you put the raw images in the directory `assets/scannet_test_images/`, you can reproduce the full results with:
+
+In order to reproduce similar tables to what was in the paper, you will need to obtain the raw test set images (we do not include them in this repo). We list the scenes and images in `assets/scannet_test_images.txt`. We provide the groundtruth in our format in the file `assets/scannet_test_pairs_with_gt.txt` for convenience. If you put the raw images in the directory `assets/scannet_test_images/`, you can reproduce the full results with:
 
 ```sh
-./match_pairs.py --eval --pairs_list assets/scannet_test_pairs.txt --data_dir assets/scannet_test_images/ --results_dir dump_scannet_test_results
+./match_pairs.py --eval --pairs_list assets/scannet_test_pairs_with_gt.txt --data_dir assets/scannet_test_images/ --results_dir dump_scannet_test_results
 ```
 
 You should get the following table for ScanNet (or something very close to it, see this [note](#a-note-on-reproducibility)):
@@ -245,12 +245,12 @@ AUC@5    AUC@10  AUC@20  Prec    MScore
 
 </details>
 
-### Reproducing Outdoor Evaluation Final Table
+### Reproducing outdoor evaluation final table
 
 <details>
   <summary>[Click to expand]</summary>
 
-The Phototourism results shown in the paper were produced using similar data as the test set from the [Image Matching Workshop](https://vision.uvic.ca/image-matching-challenge/), which does not contain publically available ground truth data for the test set. We list the pairs and overlaps we used in `assets/phototourism_test_pairs_no_groundtruth.txt`. To reproduce similar numbers on this test set, please use the image matching workshop benchmark. While the challenge is still live, we cannot share the test set publically since we want to help maintain the integrity of the challenge.
+The Phototourism results shown in the paper were produced using similar data as the test set from the [Image Matching Workshop](https://vision.uvic.ca/image-matching-challenge/), which does not contain publically available ground truth data for the test set. We list the pairs we used in `assets/phototourism_test_pairs.txt`. To reproduce similar numbers on this test set, please use the image matching workshop benchmark. While the challenge is still live, we cannot share the test set publically since we want to help maintain the integrity of the challenge.
 
 </details>
 
@@ -258,7 +258,7 @@ The Phototourism results shown in the paper were produced using similar data as
 
 <details>
   <summary>[Click to expand]</summary>
-  
+
 For training and validation of the outdoor model, we used scenes from the [MegaDepth dataset](http://www.cs.cornell.edu/projects/megadepth/). We provide the list of scenes used to train the outdoor model in the `assets/` directory:
 
 * Training set: `assets/megadepth_train_scenes.txt`
@@ -270,10 +270,38 @@ For training and validation of the outdoor model, we used scenes from the [MegaD
 
 <details>
   <summary>[Click to expand]</summary>
-  
+
 After simplifying the model code and evaluation code and preparing it for release, we made some improvements and tweaks that result in slightly different numbers than what was reported in the paper. The numbers and figures reported in the README were done using Ubuntu 16.04, OpenCV 3.4.5, and PyTorch 1.1.0. Even with matching the library versions, we observed some slight differences across Mac and Ubuntu, which we believe are due to differences in OpenCV's image resize function implementation and randomization of RANSAC.
 </details>
 
+### Creating high-quality PDF visualizations and --fast_viz
+
+<details>
+  <summary>[Click to expand]</summary>
+
+When generating output images with `match_pairs.py`, the default `--viz` flag uses a Matplotlib renderer which allows for the generation of camera-ready PDF visualizations if you additionally use `--viz_extension pdf` instead of the default png extension.
+
+```
+./match_pairs.py --viz --viz_extension pdf
+```
+
+Alternatively, you might want to save visualization images but have
+the generation be much faster.  You can use the `--fast_viz` flag to
+use an OpenCV-based image renderer as follows:
+
+```
+./match_pairs.py --viz --fast_viz
+```
+
+If you would also like an OpenCV display window to preview the results (you must use non-pdf output and use fast_fiz), simply run:
+
+```
+./match_pairs.py --viz --fast_viz --opencv_display
+```
+
+</details>
+
+
 ## BibTeX Citation
 If you use any ideas from the paper or code from this repo, please consider citing:
 
diff --git a/assets/phototourism_sample_pairs.txt b/assets/phototourism_sample_pairs.txt
index 3e299a8e..cb0e5900 100644
--- a/assets/phototourism_sample_pairs.txt
+++ b/assets/phototourism_sample_pairs.txt
@@ -1,6 +1,7 @@
-london_bridge_78916675_4568141288.jpg london_bridge_19481797_2295892421.jpg 0.192147
-london_bridge_94185272_3874562886.jpg london_bridge_49190386_5209386933.jpg 0.227853
-piazza_san_marco_15148634_5228701572.jpg piazza_san_marco_06795901_3725050516.jpg 0.377818
-piazza_san_marco_43351518_2659980686.jpg piazza_san_marco_06795901_3725050516.jpg 0.243880
-piazza_san_marco_58751010_4849458397.jpg piazza_san_marco_18627786_5929294590.jpg 0.156292
-st_pauls_cathedral_37347628_10902811376.jpg st_pauls_cathedral_30776973_2635313996.jpg 0.232404
+london_bridge_78916675_4568141288.jpg london_bridge_19481797_2295892421.jpg
+london_bridge_94185272_3874562886.jpg london_bridge_49190386_5209386933.jpg
+piazza_san_marco_15148634_5228701572.jpg piazza_san_marco_06795901_3725050516.jpg
+piazza_san_marco_43351518_2659980686.jpg piazza_san_marco_06795901_3725050516.jpg
+piazza_san_marco_58751010_4849458397.jpg piazza_san_marco_18627786_5929294590.jpg
+st_pauls_cathedral_37347628_10902811376.jpg st_pauls_cathedral_30776973_2635313996.jpg
+united_states_capitol_98169888_3347710852.jpg united_states_capitol_98169888_3347710852.jpg
diff --git a/assets/phototourism_test_pairs_no_groundtruth.txt b/assets/phototourism_test_pairs.txt
similarity index 70%
rename from assets/phototourism_test_pairs_no_groundtruth.txt
rename to assets/phototourism_test_pairs.txt
index dc6227ab..0acf208d 100644
--- a/assets/phototourism_test_pairs_no_groundtruth.txt
+++ b/assets/phototourism_test_pairs.txt
@@ -1,2200 +1,2200 @@
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diff --git a/assets/scannet_sample_pairs_with_gt.txt b/assets/scannet_sample_pairs_with_gt.txt
new file mode 100644
index 00000000..0a3238ff
--- /dev/null
+++ b/assets/scannet_sample_pairs_with_gt.txt
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diff --git a/assets/scannet_test_pairs.txt b/assets/scannet_test_pairs.txt
deleted file mode 100644
index f20f941c..00000000
--- a/assets/scannet_test_pairs.txt
+++ /dev/null
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diff --git a/assets/scannet_test_pairs_with_gt.txt b/assets/scannet_test_pairs_with_gt.txt
new file mode 100644
index 00000000..7da168e0
--- /dev/null
+++ b/assets/scannet_test_pairs_with_gt.txt
@@ -0,0 +1,1500 @@
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diff --git a/demo_superglue.py b/demo_superglue.py
index c0d7be86..0bb459f5 100755
--- a/demo_superglue.py
+++ b/demo_superglue.py
@@ -44,10 +44,10 @@
 # --------------------------------------------------------------------*/
 # %BANNER_END%
 
+from pathlib import Path
 import argparse
 import cv2
 import matplotlib.cm as cm
-from pathlib import Path
 import torch
 
 from models.matching import Matching
@@ -66,13 +66,13 @@
         help='ID of a USB webcam, URL of an IP camera, '
              'or path to an image directory or movie file')
     parser.add_argument(
-        '--img_glob', type=str, nargs='+', default=['*.png', '*.jpg', '*.jpeg'],
+        '--image_glob', type=str, nargs='+', default=['*.png', '*.jpg', '*.jpeg'],
         help='Glob if a directory of images is specified')
     parser.add_argument(
         '--skip', type=int, default=1,
         help='Images to skip if input is a movie or directory')
     parser.add_argument(
-        '--maxlen', type=int, default=1000000,
+        '--max_length', type=int, default=1000000,
         help='Maximum length if input is a movie or directory')
     parser.add_argument(
         '--resize', type=int, nargs='+', default=[640, 480],
@@ -80,24 +80,25 @@
              'resize to the exact dimensions, if one number, resize the max '
              'dimension, if -1, do not resize')
 
+    parser.add_argument(
+        '--superglue', choices={'indoor', 'outdoor'}, default='indoor',
+        help='SuperGlue weights')
     parser.add_argument(
         '--max_keypoints', type=int, default=-1,
         help='Maximum number of keypoints detected by Superpoint'
              ' (\'-1\' keeps all keypoints)')
     parser.add_argument(
-        '--nms_radius', type=int, default=4,
-        help='SuperPoint Non Maximum Suppression (NMS) radius')
-    parser.add_argument(
-        '--keypoint_thresh', type=float, default=0.005,
-        help='SuperPoint detector confidence threshold')
+        '--keypoint_threshold', type=float, default=0.005,
+        help='SuperPoint keypoint detector confidence threshold')
     parser.add_argument(
-        '--superglue', choices={'indoor', 'outdoor'}, default='indoor',
-        help='SuperGlue weights')
+        '--nms_radius', type=int, default=4,
+        help='SuperPoint Non Maximum Suppression (NMS) radius'
+        ' (Must be positive)')
     parser.add_argument(
         '--sinkhorn_iterations', type=int, default=20,
         help='Number of Sinkhorn iterations performed by SuperGlue')
     parser.add_argument(
-        '--match_thresh', type=float, default=0.2,
+        '--match_threshold', type=float, default=0.2,
         help='SuperGlue match threshold')
 
     parser.add_argument(
@@ -138,20 +139,20 @@
     config = {
         'superpoint': {
             'nms_radius': opt.nms_radius,
-            'detection_threshold': opt.keypoint_thresh,
+            'keypoint_threshold': opt.keypoint_threshold,
             'max_keypoints': opt.max_keypoints
         },
         'superglue': {
             'weights': opt.superglue,
-            'num_sinkhorn_iterations': opt.sinkhorn_iterations,
-            'filter_threshold': opt.match_thresh,
+            'sinkhorn_iterations': opt.sinkhorn_iterations,
+            'match_threshold': opt.match_threshold,
         }
     }
     matching = Matching(config).eval().to(device)
     keys = ['keypoints', 'scores', 'descriptors']
 
     vs = VideoStreamer(opt.input, opt.resize, opt.skip,
-                       opt.img_glob, opt.maxlen)
+                       opt.image_glob, opt.max_length)
     frame, ret = vs.next_frame()
     assert ret, 'Error when reading the first frame (try different --input?)'
 
@@ -199,8 +200,8 @@
             'Matches: {}'.format(len(mkpts0))
         ]
         out = make_matching_plot_fast(
-            last_frame, frame, kpts0, kpts1, mkpts0, mkpts1, color, text,
-            add_keypoints=opt.show_keypoints)
+            last_frame, frame, kpts0, kpts1, mkpts0, mkpts1, color, text, path=None,
+            show_keypoints=opt.show_keypoints)
 
         if not opt.no_display:
             ds = opt.display_scale
@@ -208,6 +209,7 @@
             cv2.imshow('SuperGlue matches', out)
             key = chr(cv2.waitKey(1) & 0xFF)
             if key == 'q':
+                vs.cleanup()
                 print('Exiting (via q) demo_superglue.py')
                 break
             elif key == 'n':  # set the current frame as reference
@@ -217,16 +219,16 @@
                 last_image_id = (vs.i - 1)
             elif key in ['e', 'r']:  # increase/decrease the detection threshold
                 d = 0.001 * (-1 if key == 'e' else 1)
-                matching.superpoint.config['detection_threshold'] = min(max(
-                    0.001, matching.superpoint.config['detection_threshold']+d), 1)
+                matching.superpoint.config['keypoint_threshold'] = min(max(
+                    0.001, matching.superpoint.config['keypoint_threshold']+d), 1)
                 print('\nChanged the detection threshold to {:.3f}'.format(
-                    matching.superpoint.config['detection_threshold']))
+                    matching.superpoint.config['keypoint_threshold']))
             elif key in ['d', 'f']:  # increase/decrease the match threshold
                 d = 0.05 * (-1 if key == 'd' else 1)
-                matching.superglue.config['filter_threshold'] = min(max(
-                    0.05, matching.superglue.config['filter_threshold']+d), .95)
+                matching.superglue.config['match_threshold'] = min(max(
+                    0.05, matching.superglue.config['match_threshold']+d), .95)
                 print('\nChanged the match threshold to {:.2f}'.format(
-                    matching.superglue.config['filter_threshold']))
+                    matching.superglue.config['match_threshold']))
             elif key == 'k':
                 opt.show_keypoints = not opt.show_keypoints
 
@@ -240,3 +242,4 @@
             cv2.imwrite(out_file, out)
 
     cv2.destroyAllWindows()
+    vs.cleanup()
diff --git a/match_pairs.py b/match_pairs.py
index bfc6bf0c..417eef7d 100755
--- a/match_pairs.py
+++ b/match_pairs.py
@@ -44,13 +44,13 @@
 # --------------------------------------------------------------------*/
 # %BANNER_END%
 
+from pathlib import Path
 import argparse
-import cv2
+import random
 import numpy as np
 import matplotlib.cm as cm
-from pathlib import Path
 import torch
-import random
+
 
 from models.matching import Matching
 from models.utils import (compute_pose_error, compute_epipolar_error,
@@ -82,10 +82,20 @@
         '--max_keypoints', type=int, default=1024,
         help='Maximum number of keypoints detected by Superpoint'
              ' (\'-1\' keeps all keypoints)')
+    parser.add_argument(
+        '--keypoint_threshold', type=float, default=0.005,
+        help='SuperPoint keypoint detector confidence threshold')
     parser.add_argument(
         '--nms_radius', type=int, default=4,
         help='SuperPoint Non Maximum Suppression (NMS) radius'
         ' (Must be positive)')
+    parser.add_argument(
+        '--sinkhorn_iterations', type=int, default=20,
+        help='Number of Sinkhorn iterations performed by SuperGlue')
+    parser.add_argument(
+        '--match_threshold', type=float, default=0.2,
+        help='SuperGlue match threshold')
+
     parser.add_argument(
         '--resize', type=int, nargs='+', default=[640, 480],
         help='Resize the input image before running inference. If two numbers, '
@@ -102,8 +112,25 @@
         '--show_keypoints', action='store_true',
         help='Plot the keypoints in addition to the matches')
     parser.add_argument(
-        '--pairs_list', type=str, default='assets/scannet_sample_pairs.txt',
+        '--fast_viz', action='store_true',
+        help='Use faster image visualization based on OpenCV instead of Matplotlib')
+    parser.add_argument(
+        '--viz_extension', type=str, default='png', choices=['png', 'pdf'],
+        help='Visualization file extension. Use pdf for highest-quality.')
+
+    parser.add_argument(
+        '--opencv_display', action='store_true',
+        help='Visualize via OpenCV before saving output images')
+    parser.add_argument(
+        '--pairs_list', type=str, default='assets/scannet_sample_pairs_with_gt.txt',
         help='Path to the list of image pairs')
+    parser.add_argument(
+        '--shuffle', action='store_true',
+        help='Shuffle ordering of pairs before processing')
+    parser.add_argument(
+        '--max_length', type=int, default=-1,
+        help='Maximum number of pairs to evaluate')
+
     parser.add_argument(
         '--data_dir', type=str, default='assets/scannet_sample_images/',
         help='Path to the directory that contains the images')
@@ -115,6 +142,11 @@
     opt = parser.parse_args()
     print(opt)
 
+    assert not (opt.opencv_display and not opt.viz), 'Must use --viz with --opencv_display'
+    assert not (opt.opencv_display and not opt.fast_viz), 'Cannot use --opencv_display without --fast_viz'
+    assert not (opt.fast_viz and not opt.viz), 'Must use --viz with --fast_viz'
+    assert not (opt.fast_viz and opt.viz_extension == 'pdf'), 'Cannot use pdf extension with --fast_viz'
+
     if len(opt.resize) == 2 and opt.resize[1] == -1:
         opt.resize = opt.resize[0:1]
     if len(opt.resize) == 2:
@@ -129,20 +161,33 @@
 
     with open(opt.pairs_list, 'r') as f:
         pairs = [l.split() for l in f.readlines()]
-    random.Random(0).shuffle(pairs)
+
+    if opt.max_length > -1:
+        pairs = pairs[0:np.min([len(pairs), opt.max_length])]
+
+    if opt.shuffle:
+        random.Random(0).shuffle(pairs)
 
     if opt.eval:
-        if not all([len(p) == 39 for p in pairs]):
+        if not all([len(p) == 38 for p in pairs]):
             raise ValueError(
-                'All pairs should have ground truth info for evaluation')
+                'All pairs should have ground truth info for evaluation.'
+                'File \"{}\" needs 38 valid entries per row'.format(opt.pairs_list))
 
     # Load the SuperPoint and SuperGlue models.
     device = 'cuda' if torch.cuda.is_available() else 'cpu'
     print('Running inference on device \"{}\"'.format(device))
     config = {
-        'superpoint': {'max_keypoints': opt.max_keypoints,
-                       'nms_radius': opt.nms_radius},
-        'superglue': {'weights': opt.superglue}
+        'superpoint': {
+            'nms_radius': opt.nms_radius,
+            'keypoint_threshold': opt.keypoint_threshold,
+            'max_keypoints': opt.max_keypoints
+        },
+        'superglue': {
+            'weights': opt.superglue,
+            'sinkhorn_iterations': opt.sinkhorn_iterations,
+            'match_threshold': opt.match_threshold,
+        }
     }
     matching = Matching(config).eval().to(device)
 
@@ -165,9 +210,9 @@
         stem0, stem1 = Path(name0).stem, Path(name1).stem
         matches_path = results_dir / '{}_{}_matches.npz'.format(stem0, stem1)
         eval_path = results_dir / '{}_{}_evaluation.npz'.format(stem0, stem1)
-        viz_path = results_dir / '{}_{}_matches.png'.format(stem0, stem1)
+        viz_path = results_dir / '{}_{}_matches.{}'.format(stem0, stem1, opt.viz_extension)
         viz_eval_path = results_dir / \
-            '{}_{}_evaluation.png'.format(stem0, stem1)
+            '{}_{}_evaluation.{}'.format(stem0, stem1, opt.viz_extension)
 
         # Handle --cache logic.
         do_match = True
@@ -208,7 +253,7 @@
 
         # If a rotation integer is provided (e.g. from EXIF data), use it:
         if len(pair) >= 5:
-            rot0, rot1 = int(pair[3]), int(pair[4])
+            rot0, rot1 = int(pair[2]), int(pair[3])
         else:
             rot0, rot1 = 0, 0
 
@@ -244,10 +289,10 @@
 
         if do_eval:
             # Estimate the pose and compute the pose error.
-            assert len(pair) == 39, 'Pair does not have ground truth info'
-            K0 = np.array(pair[5:14]).astype(float).reshape(3, 3)
-            K1 = np.array(pair[14:23]).astype(float).reshape(3, 3)
-            T_0to1 = np.array(pair[23:]).astype(float).reshape(4, 4)
+            assert len(pair) == 38, 'Pair does not have ground truth info'
+            K0 = np.array(pair[4:13]).astype(float).reshape(3, 3)
+            K1 = np.array(pair[13:22]).astype(float).reshape(3, 3)
+            T_0to1 = np.array(pair[22:]).astype(float).reshape(4, 4)
 
             # Scale the intrinsics to resized image.
             K0 = scale_intrinsics(K0, scales0)
@@ -303,26 +348,34 @@
 
             make_matching_plot(
                 image0, image1, kpts0, kpts1, mkpts0, mkpts1, color,
-                text, viz_path, stem0, stem1, add_keypoints=opt.show_keypoints)
+                text, viz_path, stem0, stem1, opt.show_keypoints,
+                opt.fast_viz, opt.opencv_display, 'Matches')
+
             timer.update('viz_match')
 
         if do_viz_eval:
             # Visualize the evaluation results for the image pair.
             color = np.clip((epi_errs - 0) / (1e-3 - 0), 0, 1)
             color = error_colormap(1 - color)
-            e_t = 'FAIL' if np.isinf(err_t) else '{:.1f}°'.format(err_t)
-            e_R = 'FAIL' if np.isinf(err_R) else '{:.1f}°'.format(err_R)
+            deg, delta = ' deg', 'Delta '
+            if not opt.fast_viz:
+                deg, delta = '°', '$\\Delta$'
+            e_t = 'FAIL' if np.isinf(err_t) else '{:.1f}{}'.format(err_t, deg)
+            e_R = 'FAIL' if np.isinf(err_R) else '{:.1f}{}'.format(err_R, deg)
             text = [
                 'SuperGlue',
-                '$\\Delta$R: {}'.format(e_R), '$\\Delta$t: {}'.format(e_t),
+                '{}R: {}'.format(delta, e_R), '{}t: {}'.format(delta, e_t),
                 'inliers: {}/{}'.format(num_correct, (matches > -1).sum()),
             ]
             if rot0 != 0 or rot1 != 0:
                 text.append('Rotation: {}:{}'.format(rot0, rot1))
+
             make_matching_plot(
-                image0, image1, kpts0, kpts1, mkpts0, mkpts1, color,
-                text, viz_eval_path, stem0, stem1,
-                add_keypoints=opt.show_keypoints)
+                image0, image1, kpts0, kpts1, mkpts0,
+                mkpts1, color, text, viz_eval_path,
+                stem0, stem1, opt.show_keypoints,
+                opt.fast_viz, opt.opencv_display, 'Relative Pose')
+
             timer.update('viz_eval')
 
         timer.print('Finished pair {:5} of {:5}'.format(i, len(pairs)))
diff --git a/models/matching.py b/models/matching.py
index 5b35352e..5d174208 100644
--- a/models/matching.py
+++ b/models/matching.py
@@ -47,15 +47,21 @@
 
 
 class Matching(torch.nn.Module):
+    """ Image Matching Frontend (SuperPoint + SuperGlue) """
     def __init__(self, config={}):
         super().__init__()
         self.superpoint = SuperPoint(config.get('superpoint', {}))
         self.superglue = SuperGlue(config.get('superglue', {}))
 
     def forward(self, data):
+        """ Run SuperPoint (optionally) and SuperGlue
+        SuperPoint is skipped if ['keypoints0', 'keypoints1'] exist in input
+        Args:
+          data: dictionary with minimal keys: ['image0', 'image1']
+        """
         pred = {}
 
-        # Extract the SuperPoint features if not already provided
+        # Extract SuperPoint (keypoints, scores, descriptors) if not provided
         if 'keypoints0' not in data:
             pred0 = self.superpoint({'image': data['image0']})
             pred = {**pred, **{k+'0': v for k, v in pred0.items()}}
@@ -67,6 +73,7 @@ def forward(self, data):
         # We should either have i) one image per batch, or
         # ii) the same number of local features for all images in the batch.
         data = {**data, **pred}
+
         for k in data:
             if isinstance(data[k], (list, tuple)):
                 data[k] = torch.stack(data[k])
diff --git a/models/superglue.py b/models/superglue.py
index bbda8255..e75c9b9c 100644
--- a/models/superglue.py
+++ b/models/superglue.py
@@ -46,7 +46,8 @@
 from torch import nn
 
 
-def MLP(channels, do_bn=True):
+def MLP(channels: list, do_bn=True):
+    """ Multi-layer perceptron """
     n = len(channels)
     layers = []
     for i in range(1, n):
@@ -59,16 +60,18 @@ def MLP(channels, do_bn=True):
     return nn.Sequential(*layers)
 
 
-def normalize_keypoints(kpts, shape):
-    _, _, h, w = shape
+def normalize_keypoints(kpts, image_shape):
+    """ Normalize keypoints locations based on image image_shape"""
+    _, _, height, width = image_shape
     one = kpts.new_tensor(1)
-    size = torch.stack([one*w, one*h])[None]
-    c = size / 2
-    f = size.max(1, keepdim=True).values * 0.7
-    return (kpts - c[:, None, :]) / f[:, None, :]
+    size = torch.stack([one*width, one*height])[None]
+    center = size / 2
+    scaling = size.max(1, keepdim=True).values * 0.7
+    return (kpts - center[:, None, :]) / scaling[:, None, :]
 
 
 class KeypointEncoder(nn.Module):
+    """ Joint encoding of visual appearance and location using MLPs"""
     def __init__(self, feature_dim, layers):
         super().__init__()
         self.encoder = MLP([3] + layers + [feature_dim])
@@ -87,28 +90,29 @@ def attention(query, key, value):
 
 
 class MultiHeadedAttention(nn.Module):
-    def __init__(self, h, d_model):
+    """ Multi-head attention to increase model expressivitiy """
+    def __init__(self, num_heads: int, d_model: int):
         super().__init__()
-        assert d_model % h == 0
-        self.dim = d_model // h
-        self.h = h
+        assert d_model % num_heads == 0
+        self.dim = d_model // num_heads
+        self.num_heads = num_heads
         self.merge = nn.Conv1d(d_model, d_model, kernel_size=1)
         self.proj = nn.ModuleList([deepcopy(self.merge) for _ in range(3)])
 
     def forward(self, query, key, value):
-        b = query.size(0)
-        query, key, value = [l(x).view(b, self.dim, self.h, -1)
+        batch_dim = query.size(0)
+        query, key, value = [l(x).view(batch_dim, self.dim, self.num_heads, -1)
                              for l, x in zip(self.proj, (query, key, value))]
         x, prob = attention(query, key, value)
         self.prob.append(prob)
-        return self.merge(x.contiguous().view(b, self.dim*self.h, -1))
+        return self.merge(x.contiguous().view(batch_dim, self.dim*self.num_heads, -1))
 
 
 class AttentionalPropagation(nn.Module):
-    def __init__(self, num_dim, num_heads):
+    def __init__(self, feature_dim: int, num_heads: int):
         super().__init__()
-        self.attn = MultiHeadedAttention(num_heads, num_dim)
-        self.mlp = MLP([num_dim*2, num_dim*2, num_dim])
+        self.attn = MultiHeadedAttention(num_heads, feature_dim)
+        self.mlp = MLP([feature_dim*2, feature_dim*2, feature_dim])
         nn.init.constant_(self.mlp[-1].bias, 0.0)
 
     def forward(self, x, source):
@@ -117,7 +121,7 @@ def forward(self, x, source):
 
 
 class AttentionalGNN(nn.Module):
-    def __init__(self, feature_dim, layer_names):
+    def __init__(self, feature_dim: int, layer_names: list):
         super().__init__()
         self.layers = nn.ModuleList([
             AttentionalPropagation(feature_dim, 4)
@@ -136,7 +140,8 @@ def forward(self, desc0, desc1):
         return desc0, desc1
 
 
-def log_sinkhorn_iterations(Z, log_mu, log_nu, iters):
+def log_sinkhorn_iterations(Z, log_mu, log_nu, iters: int):
+    """ Perform Sinkhorn Normalization in Log-space for stability"""
     u, v = torch.zeros_like(log_mu), torch.zeros_like(log_nu)
     for _ in range(iters):
         u = log_mu - torch.logsumexp(Z + v.unsqueeze(1), dim=2)
@@ -144,7 +149,8 @@ def log_sinkhorn_iterations(Z, log_mu, log_nu, iters):
     return Z + u.unsqueeze(2) + v.unsqueeze(1)
 
 
-def log_optimal_transport(scores, alpha, iters):
+def log_optimal_transport(scores, alpha, iters: int):
+    """ Perform Differentiable Optimal Transport in Log-space for stability"""
     b, m, n = scores.shape
     one = scores.new_tensor(1)
     ms, ns = (m*one).to(scores), (n*one).to(scores)
@@ -166,18 +172,35 @@ def log_optimal_transport(scores, alpha, iters):
     return Z
 
 
-def arange_like(x, dim):
+def arange_like(x, dim: int):
     return x.new_ones(x.shape[dim]).cumsum(0) - 1  # traceable in 1.1
 
 
 class SuperGlue(nn.Module):
+    """SuperGlue feature matching middle-end
+
+    Given two sets of keypoints and locations, we determine the
+    correspondences by:
+      1. Keypoint Encoding (normalization + visual feature and location fusion)
+      2. Graph Neural Network with multiple self and cross-attention layers
+      3. Final projection layer
+      4. Optimal Transport Layer (a differentiable Hungarian matching algorithm)
+      5. Thresholding matrix based on mutual exclusivity and a match_threshold
+
+    The correspondence ids use -1 to indicate non-matching points.
+
+    Paul-Edouard Sarlin, Daniel DeTone, Tomasz Malisiewicz, and Andrew
+    Rabinovich. SuperGlue: Learning Feature Matching with Graph Neural
+    Networks. In CVPR, 2020. https://arxiv.org/abs/1911.11763
+
+    """
     default_config = {
         'descriptor_dim': 256,
         'weights': 'indoor',
         'keypoint_encoder': [32, 64, 128, 256],
         'GNN_layers': ['self', 'cross'] * 9,
-        'num_sinkhorn_iterations': 100,
-        'filter_threshold': 0.2,
+        'sinkhorn_iterations': 100,
+        'match_threshold': 0.2,
     }
 
     def __init__(self, config):
@@ -202,9 +225,10 @@ def __init__(self, config):
         path = path / 'weights/superglue_{}.pth'.format(self.config['weights'])
         self.load_state_dict(torch.load(path))
         print('Loaded SuperGlue model (\"{}\" weights)'.format(
-              self.config['weights']))
+            self.config['weights']))
 
     def forward(self, data):
+        """Run SuperGlue on a pair of keypoints and descriptors"""
         desc0, desc1 = data['descriptors0'], data['descriptors1']
         kpts0, kpts1 = data['keypoints0'], data['keypoints1']
 
@@ -238,24 +262,24 @@ def forward(self, data):
         # Run the optimal transport.
         scores = log_optimal_transport(
             scores, self.bin_score,
-            iters=self.config['num_sinkhorn_iterations'])
+            iters=self.config['sinkhorn_iterations'])
 
-        # Get the matches with score above "filter_threshold".
+        # Get the matches with score above "match_threshold".
         max0, max1 = scores[:, :-1, :-1].max(2), scores[:, :-1, :-1].max(1)
-        m0, m1 = max0.indices, max1.indices
-        mutual0 = arange_like(m0, 1)[None] == m1.gather(1, m0)
-        mutual1 = arange_like(m1, 1)[None] == m0.gather(1, m1)
+        indices0, indices1 = max0.indices, max1.indices
+        mutual0 = arange_like(indices0, 1)[None] == indices1.gather(1, indices0)
+        mutual1 = arange_like(indices1, 1)[None] == indices0.gather(1, indices1)
         zero = scores.new_tensor(0)
         mscores0 = torch.where(mutual0, max0.values.exp(), zero)
-        mscores1 = torch.where(mutual1, mscores0.gather(1, m1), zero)
-        valid0 = mutual0 & (mscores0 > self.config['filter_threshold'])
-        valid1 = mutual1 & valid0.gather(1, m1)
-        m0 = torch.where(valid0, m0, m0.new_tensor(-1))
-        m1 = torch.where(valid1, m1, m1.new_tensor(-1))
+        mscores1 = torch.where(mutual1, mscores0.gather(1, indices1), zero)
+        valid0 = mutual0 & (mscores0 > self.config['match_threshold'])
+        valid1 = mutual1 & valid0.gather(1, indices1)
+        indices0 = torch.where(valid0, indices0, indices0.new_tensor(-1))
+        indices1 = torch.where(valid1, indices1, indices1.new_tensor(-1))
 
         return {
-            'matches0': m0,
-            'matches1': m1,
+            'matches0': indices0, # use -1 for invalid match
+            'matches1': indices1, # use -1 for invalid match
             'matching_scores0': mscores0,
             'matching_scores1': mscores1,
         }
diff --git a/models/superpoint.py b/models/superpoint.py
index 6d5f59fc..8e411925 100644
--- a/models/superpoint.py
+++ b/models/superpoint.py
@@ -44,8 +44,8 @@
 import torch
 from torch import nn
 
-
-def simple_nms(scores, nms_radius):
+def simple_nms(scores, nms_radius: int):
+    """ Fast Non-maximum suppression to remove nearby points """
     assert(nms_radius >= 0)
 
     def max_pool(x):
@@ -62,21 +62,23 @@ def max_pool(x):
     return torch.where(max_mask, scores, zeros)
 
 
-def remove_borders(keypoints, scores, b, h, w):
-    mask_h = (keypoints[:, 0] >= b) & (keypoints[:, 0] < (h - b))
-    mask_w = (keypoints[:, 1] >= b) & (keypoints[:, 1] < (w - b))
+def remove_borders(keypoints, scores, border: int, height: int, width: int):
+    """ Removes keypoints too close to the border """
+    mask_h = (keypoints[:, 0] >= border) & (keypoints[:, 0] < (height - border))
+    mask_w = (keypoints[:, 1] >= border) & (keypoints[:, 1] < (width - border))
     mask = mask_h & mask_w
     return keypoints[mask], scores[mask]
 
 
-def top_k_keypoints(keypoints, scores, k):
+def top_k_keypoints(keypoints, scores, k: int):
     if k >= len(keypoints):
         return keypoints, scores
     scores, indices = torch.topk(scores, k, dim=0)
     return keypoints[indices], scores
 
 
-def sample_descriptors(keypoints, descriptors, s):
+def sample_descriptors(keypoints, descriptors, s: int = 8):
+    """ Interpolate descriptors at keypoint locations """
     b, c, h, w = descriptors.shape
     keypoints = keypoints - s / 2 + 0.5
     keypoints /= torch.tensor([(w*s - s/2 - 0.5), (h*s - s/2 - 0.5)],
@@ -91,10 +93,17 @@ def sample_descriptors(keypoints, descriptors, s):
 
 
 class SuperPoint(nn.Module):
+    """SuperPoint Convolutional Detector and Descriptor
+
+    SuperPoint: Self-Supervised Interest Point Detection and
+    Description. Daniel DeTone, Tomasz Malisiewicz, and Andrew
+    Rabinovich. In CVPRW, 2019. https://arxiv.org/abs/1712.07629
+
+    """
     default_config = {
         'descriptor_dim': 256,
         'nms_radius': 4,
-        'detection_threshold': 0.005,
+        'keypoint_threshold': 0.005,
         'max_keypoints': -1,
         'remove_borders': 4,
     }
@@ -134,6 +143,7 @@ def __init__(self, config):
         print('Loaded SuperPoint model')
 
     def forward(self, data):
+        """ Compute keypoints, scores, descriptors for image """
         # Shared Encoder
         x = self.relu(self.conv1a(data['image']))
         x = self.relu(self.conv1b(x))
@@ -151,14 +161,14 @@ def forward(self, data):
         cPa = self.relu(self.convPa(x))
         scores = self.convPb(cPa)
         scores = torch.nn.functional.softmax(scores, 1)[:, :-1]
-        b, c, h, w = scores.shape
+        b, _, h, w = scores.shape
         scores = scores.permute(0, 2, 3, 1).reshape(b, h, w, 8, 8)
         scores = scores.permute(0, 1, 3, 2, 4).reshape(b, h*8, w*8)
         scores = simple_nms(scores, self.config['nms_radius'])
 
         # Extract keypoints
         keypoints = [
-            torch.nonzero(s > self.config['detection_threshold'])
+            torch.nonzero(s > self.config['keypoint_threshold'])
             for s in scores]
         scores = [s[tuple(k.t())] for s, k in zip(scores, keypoints)]
 
diff --git a/models/utils.py b/models/utils.py
index c5d35353..23c8ec67 100644
--- a/models/utils.py
+++ b/models/utils.py
@@ -36,23 +36,25 @@
 #
 #  Originating Authors: Paul-Edouard Sarlin
 #                       Daniel DeTone
+#                       Tomasz Malisiewicz
 #
 # %AUTHORS_END%
 # --------------------------------------------------------------------*/
 # %BANNER_END%
 
-import torch
-import time
 from pathlib import Path
-import numpy as np
-import matplotlib.pyplot as plt
+import time
 from collections import OrderedDict
+from threading import Thread
+import numpy as np
 import cv2
+import torch
+import matplotlib.pyplot as plt
 import matplotlib
 matplotlib.use('Agg')
 
 
-class AverageTimer(object):
+class AverageTimer:
     """ Class to help manage printing simple timing of code execution. """
 
     def __init__(self, smoothing=0.3, newline=False):
@@ -94,15 +96,19 @@ def print(self, text='Timer'):
         self.reset()
 
 
-class VideoStreamer(object):
+class VideoStreamer:
     """ Class to help process image streams. Four types of possible inputs:"
         1.) USB Webcam.
         2.) An IP camera
-        3.) A directory of images (files in directory matching 'img_glob').
+        3.) A directory of images (files in directory matching 'image_glob').
         4.) A video file, such as an .mp4 or .avi file.
     """
-
-    def __init__(self, basedir, resize, skip, img_glob, maxlen=1000000):
+    def __init__(self, basedir, resize, skip, image_glob, max_length=1000000):
+        self._ip_grabbed = False
+        self._ip_running = False
+        self._ip_camera = False
+        self._ip_image = None
+        self._ip_index = 0
         self.cap = []
         self.camera = True
         self.video_file = False
@@ -111,26 +117,29 @@ def __init__(self, basedir, resize, skip, img_glob, maxlen=1000000):
         self.interp = cv2.INTER_AREA
         self.i = 0
         self.skip = skip
-        self.maxlen = maxlen
+        self.max_length = max_length
         if isinstance(basedir, int) or basedir.isdigit():
             print('==> Processing USB webcam input: {}'.format(basedir))
             self.cap = cv2.VideoCapture(int(basedir))
-            self.listing = range(0, self.maxlen)
+            self.listing = range(0, self.max_length)
         elif basedir.startswith(('http', 'rtsp')):
             print('==> Processing IP camera input: {}'.format(basedir))
             self.cap = cv2.VideoCapture(basedir)
-            self.listing = range(0, self.maxlen)
+            self.start_ip_camera_thread()
+            self._ip_camera = True
+            self.listing = range(0, self.max_length)
         elif Path(basedir).is_dir():
             print('==> Processing image directory input: {}'.format(basedir))
-            self.listing = list(Path(basedir).glob(img_glob[0]))
-            for j in range(1, len(img_glob)):
-                l = list(Path(basedir).glob(img_glob[j]))
-                self.listing = self.listing + l
+            self.listing = list(Path(basedir).glob(image_glob[0]))
+            for j in range(1, len(image_glob)):
+                image_path = list(Path(basedir).glob(image_glob[j]))
+                self.listing = self.listing + image_path
             self.listing.sort()
             self.listing = self.listing[::self.skip]
-            self.maxlen = len(self.listing)
-            if self.maxlen == 0:
-                raise IOError('No images found (maybe bad \'img_glob\' ?)')
+            self.max_length = np.min([self.max_length, len(self.listing)])
+            if self.max_length == 0:
+                raise IOError('No images found (maybe bad \'image_glob\' ?)')
+            self.listing = self.listing[:self.max_length]
             self.camera = False
         elif Path(basedir).exists():
             print('==> Processing video input: {}'.format(basedir))
@@ -140,9 +149,10 @@ def __init__(self, basedir, resize, skip, img_glob, maxlen=1000000):
             self.listing = range(0, num_frames)
             self.listing = self.listing[::self.skip]
             self.video_file = True
-            self.maxlen = len(self.listing)
+            self.max_length = np.min([self.max_length, len(self.listing)])
+            self.listing = self.listing[:self.max_length]
         else:
-            raise ValueError('Input string not recognized: '.format(basedir))
+            raise ValueError('VideoStreamer input \"{}\" not recognized.'.format(basedir))
         if self.camera and not self.cap.isOpened():
             raise IOError('Could not read camera')
 
@@ -150,7 +160,6 @@ def load_image(self, impath):
         """ Read image as grayscale and resize to img_size.
         Inputs
             impath: Path to input image.
-            img_size: (W, H) tuple specifying resize size.
         Returns
             grayim: uint8 numpy array sized H x W.
         """
@@ -170,10 +179,20 @@ def next_frame(self):
              status: True or False depending whether image was loaded.
         """
 
-        if self.i == self.maxlen:
+        if self.i == self.max_length:
             return (None, False)
         if self.camera:
-            ret, image = self.cap.read()
+
+            if self._ip_camera:
+                #Wait for first image, making sure we haven't exited
+                while self._ip_grabbed is False and self._ip_exited is False:
+                    time.sleep(.001)
+
+                ret, image = self._ip_grabbed, self._ip_image.copy()
+                if ret is False:
+                    self._ip_running = False
+            else:
+                ret, image = self.cap.read()
             if ret is False:
                 print('VideoStreamer: Cannot get image from camera')
                 return (None, False)
@@ -191,6 +210,30 @@ def next_frame(self):
         self.i = self.i + 1
         return (image, True)
 
+    def start_ip_camera_thread(self):
+        self._ip_thread = Thread(target=self.update_ip_camera, args=())
+        self._ip_running = True
+        self._ip_thread.start()
+        self._ip_exited = False
+        return self
+
+    def update_ip_camera(self):
+        while self._ip_running:
+            ret, img = self.cap.read()
+            if ret is False:
+                self._ip_running = False
+                self._ip_exited = True
+                self._ip_grabbed = False
+                return
+
+            self._ip_image = img
+            self._ip_grabbed = ret
+            self._ip_index += 1
+            #print('IPCAMERA THREAD got frame {}'.format(self._ip_index))
+
+
+    def cleanup(self):
+        self._ip_running = False
 
 # --- PREPROCESSING ---
 
@@ -256,7 +299,7 @@ def estimate_pose(kpts0, kpts1, K0, K1, thresh, conf=0.99999):
         kpts0, kpts1, np.eye(3), threshold=norm_thresh, prob=conf,
         method=cv2.RANSAC)
 
-    assert(E is not None)
+    assert E is not None
 
     best_num_inliers = 0
     ret = None
@@ -270,9 +313,8 @@ def estimate_pose(kpts0, kpts1, K0, K1, thresh, conf=0.99999):
 
 
 def rotate_intrinsics(K, image_shape, rot):
-    """ image_shape is the shape of the image after rotattion
-    """
-    assert(rot <= 3)
+    """image_shape is the shape of the image after rotation"""
+    assert rot <= 3
     h, w = image_shape[:2][::-1 if (rot % 2) else 1]
     fx, fy, cx, cy = K[0, 0], K[1, 1], K[0, 2], K[1, 2]
     rot = rot % 4
@@ -374,7 +416,7 @@ def plot_image_pair(imgs, dpi=100, size=6, pad=.5):
     n = len(imgs)
     assert n == 2, 'number of images must be two'
     figsize = (size*n, size*3/4) if size is not None else None
-    fig, ax = plt.subplots(1, n, figsize=figsize, dpi=dpi)
+    _, ax = plt.subplots(1, n, figsize=figsize, dpi=dpi)
     for i in range(n):
         ax[i].imshow(imgs[i], cmap=plt.get_cmap('gray'), vmin=0, vmax=255)
         ax[i].get_yaxis().set_ticks([])
@@ -402,16 +444,25 @@ def plot_matches(kpts0, kpts1, color, lw=1.5, ps=4):
     fig.lines = [matplotlib.lines.Line2D(
         (fkpts0[i, 0], fkpts1[i, 0]), (fkpts0[i, 1], fkpts1[i, 1]), zorder=1,
         transform=fig.transFigure, c=color[i], linewidth=lw)
-        for i in range(len(kpts0))]
+                 for i in range(len(kpts0))]
     ax[0].scatter(kpts0[:, 0], kpts0[:, 1], c=color, s=ps)
     ax[1].scatter(kpts1[:, 0], kpts1[:, 1], c=color, s=ps)
 
 
 def make_matching_plot(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
-                       color, text, path, name0, name1, add_keypoints=False):
+                       color, text, path, name0, name1, show_keypoints=False,
+                       fast_viz=False, opencv_display=False, opencv_title='matches'):
+
+    if fast_viz:
+        make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
+                                color, text, path, show_keypoints, 10,
+                                opencv_display, opencv_title)
+        return
+
     plot_image_pair([image0, image1])
-    if add_keypoints:
-        plot_keypoints(kpts0, kpts1)
+    if show_keypoints:
+        plot_keypoints(kpts0, kpts1, color='k', ps=4)
+        plot_keypoints(kpts0, kpts1, color='w', ps=2)
     plot_matches(mkpts0, mkpts1, color)
 
     fig = plt.gcf()
@@ -434,8 +485,10 @@ def make_matching_plot(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
     plt.close()
 
 
-def make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
-                            color, text, add_keypoints=False, margin=10):
+def make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0,
+                            mkpts1, color, text, path=None,
+                            show_keypoints=False, margin=10,
+                            opencv_display=False, opencv_title=''):
     H0, W0 = image0.shape
     H1, W1 = image1.shape
     H, W = max(H0, H1), W0 + W1 + margin
@@ -445,13 +498,17 @@ def make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
     out[:H1, W0+margin:] = image1
     out = np.stack([out]*3, -1)
 
-    if add_keypoints:
+    if show_keypoints:
         kpts0, kpts1 = np.round(kpts0).astype(int), np.round(kpts1).astype(int)
-        kp_color = (255, 255, 255)
+        white = (255, 255, 255)
+        black = (0, 0, 0)
         for x, y in kpts0:
-            cv2.circle(out, (x, y), 1, kp_color, -1, lineType=cv2.LINE_AA)
+            cv2.circle(out, (x, y), 2, black, -1, lineType=cv2.LINE_AA)
+            cv2.circle(out, (x, y), 1, white, -1, lineType=cv2.LINE_AA)
         for x, y in kpts1:
-            cv2.circle(out, (x + margin + W0, y), 1, kp_color, -1,
+            cv2.circle(out, (x + margin + W0, y), 2, black, -1,
+                       lineType=cv2.LINE_AA)
+            cv2.circle(out, (x + margin + W0, y), 1, white, -1,
                        lineType=cv2.LINE_AA)
 
     mkpts0, mkpts1 = np.round(mkpts0).astype(int), np.round(mkpts1).astype(int)
@@ -460,19 +517,26 @@ def make_matching_plot_fast(image0, image1, kpts0, kpts1, mkpts0, mkpts1,
         c = c.tolist()
         cv2.line(out, (x0, y0), (x1 + margin + W0, y1),
                  color=c, thickness=1, lineType=cv2.LINE_AA)
-        if add_keypoints:
-            cv2.circle(out, (x0, y0), 2, c, -1, lineType=cv2.LINE_AA)
-            cv2.circle(out, (x1 + margin + W0, y1), 2, c, -1,
-                       lineType=cv2.LINE_AA)
+        # display line end-points as circles
+        cv2.circle(out, (x0, y0), 2, c, -1, lineType=cv2.LINE_AA)
+        cv2.circle(out, (x1 + margin + W0, y1), 2, c, -1,
+                   lineType=cv2.LINE_AA)
 
     Ht = int(H * 30 / 480)  # text height
-    if image0[Ht*len(text), :150].mean() > 200:
-        txt_color = (0, 0, 0)
-    else:
-        txt_color = (255, 255, 255)
+    txt_color_fg = (255, 255, 255)
+    txt_color_bg = (0, 0, 0)
     for i, t in enumerate(text):
         cv2.putText(out, t, (10, Ht*(i+1)), cv2.FONT_HERSHEY_DUPLEX,
-                    H*1.0/480, txt_color, 1, cv2.LINE_AA)
+                    H*1.0/480, txt_color_bg, 2, cv2.LINE_AA)
+        cv2.putText(out, t, (10, Ht*(i+1)), cv2.FONT_HERSHEY_DUPLEX,
+                    H*1.0/480, txt_color_fg, 1, cv2.LINE_AA)
+
+    if path is not None:
+        cv2.imwrite(str(path), out)
+
+    if opencv_display:
+        cv2.imshow(opencv_title, out)
+        cv2.waitKey(1)
 
     return out
 
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 00000000..bf29a527
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1,4 @@
+matplotlib>=3.1.3
+torch>=1.1.0
+opencv-python==4.1.2.30
+numpy>=1.18.1