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fix the bug for threshold update #148

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Merged
lpanaf merged 5 commits into from
Dec 13, 2024
Merged

fix the bug for threshold update #148

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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
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6 changes: 5 additions & 1 deletion glomap/estimators/bundle_adjustment.h
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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() {
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@ahojnnes ahojnnes Dec 13, 2024

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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;
}
};
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6 changes: 5 additions & 1 deletion glomap/estimators/global_positioning.h
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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();
}
};

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4 changes: 4 additions & 0 deletions glomap/exe/global_mapper.cc
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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
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1 change: 1 addition & 0 deletions pybind11
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Submodule pybind11 added at 3ebdc5
1 change: 1 addition & 0 deletions pyglomap/pybind11
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Submodule pybind11 added at 3ebdc5
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