Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix the bug for threshold update #148

Merged
merged 5 commits into from
Dec 13, 2024
Merged

fix the bug for threshold update #148

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
ec80482
fix the bug that the update of threshold from command line is not ref…
lpanaf Dec 12, 2024
577a515
f
lpanaf Dec 12, 2024
4656131
update
lpanaf Dec 13, 2024
f2bdbc3
refactor the loss_function
lpanaf Dec 13, 2024
4c16bea
d
lpanaf Dec 13, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 5 additions & 1 deletion glomap/estimators/bundle_adjustment.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -19,9 +19,13 @@ struct BundleAdjusterOptions : public OptimizationBaseOptions {
// Constrain the minimum number of views per track
int min_num_view_per_track = 3;

void UpdateThreshold() {
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Instead of this fix, I suggest the following:

struct BundleAdjusterOptions {
  double thres_loss_function = 1;

  std::shared_ptr<ceres::LossFunction> CreateLossFunction() {
    return std::make_shared<ceres::HuberLoss>(thres_loss_function);
  }
};

Since you explicitly have to call CreateLossFunction(), it is harder to accidentally forget calling the UpdateThreshold().

loss_function = std::make_shared<ceres::HuberLoss>(thres_loss_function);
}

BundleAdjusterOptions() : OptimizationBaseOptions() {
thres_loss_function = 1.;
loss_function = std::make_shared<ceres::HuberLoss>(thres_loss_function);
UpdateThreshold();
solver_options.max_num_iterations = 200;
}
};
Expand Down
6 changes: 5 additions & 1 deletion glomap/estimators/global_positioning.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -40,9 +40,13 @@ struct GlobalPositionerOptions : public OptimizationBaseOptions {
double constraint_reweight_scale =
1.0; // only relevant for POINTS_AND_CAMERAS_BALANCED

void UpdateThreshold() {
loss_function = std::make_shared<ceres::HuberLoss>(thres_loss_function);
}

GlobalPositionerOptions() : OptimizationBaseOptions() {
thres_loss_function = 1e-1;
loss_function = std::make_shared<ceres::HuberLoss>(thres_loss_function);
UpdateThreshold();
}
};

Expand Down
4 changes: 4 additions & 0 deletions glomap/exe/global_mapper.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,8 @@ int RunMapper(int argc, char** argv) {
return EXIT_FAILURE;
}

options.mapper->opt_gp.UpdateThreshold();
options.mapper->opt_ba.UpdateThreshold();
GlobalMapper global_mapper(*options.mapper);

// Main solver
Expand Down Expand Up @@ -134,6 +136,8 @@ int RunMapperResume(int argc, char** argv) {
reconstruction.Read(input_path);
ConvertColmapToGlomap(reconstruction, cameras, images, tracks);

options.mapper->opt_gp.UpdateThreshold();
options.mapper->opt_ba.UpdateThreshold();
GlobalMapper global_mapper(*options.mapper);

// Main solver
Expand Down
1 change: 1 addition & 0 deletions pybind11
Open in desktop
Submodule pybind11 added at 3ebdc5
1 change: 1 addition & 0 deletions pyglomap/pybind11
Open in desktop
Submodule pybind11 added at 3ebdc5
Loading