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Add option Relocalizer::max_num_ransac_iter #540

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merged 1 commit into from
Oct 28, 2023
Merged

Add option Relocalizer::max_num_ransac_iter #540

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11 changes: 7 additions & 4 deletions src/stella_vslam/module/relocalizer.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -19,14 +19,16 @@ relocalizer::relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_o
const bool use_fixed_seed,
const bool search_neighbor,
const unsigned int top_n_covisibilities_to_search,
const float num_common_words_thr_ratio)
const float num_common_words_thr_ratio,
const unsigned int max_num_ransac_iter)
: min_num_bow_matches_(min_num_bow_matches), min_num_valid_obs_(min_num_valid_obs),
bow_matcher_(bow_match_lowe_ratio, false), proj_matcher_(proj_match_lowe_ratio, false),
robust_matcher_(robust_match_lowe_ratio, false),
pose_optimizer_(pose_optimizer), use_fixed_seed_(use_fixed_seed),
search_neighbor_(search_neighbor),
top_n_covisibilities_to_search_(top_n_covisibilities_to_search),
num_common_words_thr_ratio_(num_common_words_thr_ratio) {
num_common_words_thr_ratio_(num_common_words_thr_ratio),
max_num_ransac_iter_(max_num_ransac_iter) {
spdlog::debug("CONSTRUCT: module::relocalizer");
}

Expand All @@ -40,7 +42,8 @@ relocalizer::relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_o
yaml_node["use_fixed_seed"].as<bool>(false),
yaml_node["search_neighbor"].as<bool>(true),
yaml_node["top_n_covisibilities_to_search"].as<unsigned int>(10),
yaml_node["num_common_words_thr_ratio"].as<float>(0.8f)) {
yaml_node["num_common_words_thr_ratio"].as<float>(0.8f),
yaml_node["max_num_ransac_iter"].as<unsigned int>(30)) {
}

relocalizer::~relocalizer() {
Expand Down Expand Up @@ -188,7 +191,7 @@ bool relocalizer::relocalize_by_pnp_solver(data::frame& curr_frm,

// 1. Estimate the camera pose using EPnP (+ RANSAC)

pnp_solver->find_via_ransac(30, false);
pnp_solver->find_via_ransac(max_num_ransac_iter_, false);
if (!pnp_solver->solution_is_valid()) {
spdlog::debug("solution is not valid. candidate keyframe id is {}", candidate_keyfrm->id_);
return false;
Expand Down
5 changes: 4 additions & 1 deletion src/stella_vslam/module/relocalizer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,8 @@ class relocalizer {
const bool use_fixed_seed = false,
const bool search_neighbor = true,
const unsigned int top_n_covisibilities_to_search = 10,
const float num_common_words_thr_ratio = 0.8f);
const float num_common_words_thr_ratio = 0.8f,
const unsigned int max_num_ransac_iter = 30);

explicit relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_optimizer, const YAML::Node& yaml_node);

Expand Down Expand Up @@ -93,6 +94,8 @@ class relocalizer {
const unsigned int top_n_covisibilities_to_search_ = 10;

const float num_common_words_thr_ratio_ = 0.8f;

const unsigned int max_num_ransac_iter_ = 30;
};

} // namespace module
Expand Down
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