From 092de3eda240d7b807e460346cbae2646c062ecb Mon Sep 17 00:00:00 2001 From: ymd-stella Date: Fri, 4 Oct 2024 14:26:17 +0900 Subject: [PATCH 1/2] Add Options for GlobalOptimizer - num_iter - use_huber_kernel --- src/stella_vslam/global_optimization_module.cc | 5 ++++- src/stella_vslam/module/loop_bundle_adjuster.cc | 8 +++++--- src/stella_vslam/module/loop_bundle_adjuster.h | 6 +++++- 3 files changed, 14 insertions(+), 5 deletions(-) diff --git a/src/stella_vslam/global_optimization_module.cc b/src/stella_vslam/global_optimization_module.cc index 4829fd768..e68f9aaf0 100644 --- a/src/stella_vslam/global_optimization_module.cc +++ b/src/stella_vslam/global_optimization_module.cc @@ -16,7 +16,10 @@ global_optimization_module::global_optimization_module(data::map_database* map_d data::bow_vocabulary* bow_vocab, const YAML::Node& yaml_node, const bool fix_scale) : loop_detector_(new module::loop_detector(bow_db, bow_vocab, util::yaml_optional_ref(yaml_node, "LoopDetector"), fix_scale)), - loop_bundle_adjuster_(new module::loop_bundle_adjuster(map_db)), + loop_bundle_adjuster_(new module::loop_bundle_adjuster( + map_db, + util::yaml_optional_ref(yaml_node, "GlobalOptimizer")["num_iter"].as(10), + util::yaml_optional_ref(yaml_node, "GlobalOptimizer")["use_huber_kernel"].as(false))), map_db_(map_db), graph_optimizer_(new optimize::graph_optimizer(util::yaml_optional_ref(yaml_node, "GraphOptimizer"), fix_scale)), thr_neighbor_keyframes_(util::yaml_optional_ref(yaml_node, "GlobalOptimizer")["thr_neighbor_keyframes"].as(15)) { diff --git a/src/stella_vslam/module/loop_bundle_adjuster.cc b/src/stella_vslam/module/loop_bundle_adjuster.cc index d8278b184..9b1d86630 100644 --- a/src/stella_vslam/module/loop_bundle_adjuster.cc +++ b/src/stella_vslam/module/loop_bundle_adjuster.cc @@ -12,8 +12,10 @@ namespace stella_vslam { namespace module { -loop_bundle_adjuster::loop_bundle_adjuster(data::map_database* map_db, const unsigned int num_iter) - : map_db_(map_db), num_iter_(num_iter) {} +loop_bundle_adjuster::loop_bundle_adjuster(data::map_database* map_db, + const unsigned int num_iter, + const bool use_huber_kernel) + : map_db_(map_db), num_iter_(num_iter), use_huber_kernel_(use_huber_kernel) {} void loop_bundle_adjuster::set_mapping_module(mapping_module* mapper) { mapper_ = mapper; @@ -42,7 +44,7 @@ void loop_bundle_adjuster::optimize(const std::shared_ptr& curr_ std::unordered_set optimized_landmark_ids; eigen_alloc_unord_map lm_to_pos_w_after_global_BA; eigen_alloc_unord_map keyfrm_to_pose_cw_after_global_BA; - const auto global_BA = optimize::global_bundle_adjuster(num_iter_, false); + const auto global_BA = optimize::global_bundle_adjuster(num_iter_, use_huber_kernel_); bool ok = global_BA.optimize(curr_keyfrm->graph_node_->get_keyframes_from_root(), optimized_keyfrm_ids, optimized_landmark_ids, lm_to_pos_w_after_global_BA, diff --git a/src/stella_vslam/module/loop_bundle_adjuster.h b/src/stella_vslam/module/loop_bundle_adjuster.h index 99266706a..d90daec70 100644 --- a/src/stella_vslam/module/loop_bundle_adjuster.h +++ b/src/stella_vslam/module/loop_bundle_adjuster.h @@ -19,7 +19,9 @@ class loop_bundle_adjuster { /** * Constructor */ - explicit loop_bundle_adjuster(data::map_database* map_db, const unsigned int num_iter = 10); + explicit loop_bundle_adjuster(data::map_database* map_db, + const unsigned int num_iter = 10, + const bool use_huber_kernel = false); /** * Destructor @@ -56,6 +58,8 @@ class loop_bundle_adjuster { //! number of iteration for optimization const unsigned int num_iter_ = 10; + const bool use_huber_kernel_ = false; + //----------------------------------------- // thread management From 54b2411f1a4307216c6bf9f45dfa214926a25e32 Mon Sep 17 00:00:00 2001 From: ymd-stella Date: Fri, 4 Oct 2024 14:29:34 +0900 Subject: [PATCH 2/2] Update clang-format-lint-action --- .github/workflows/main.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml index 4b96f597d..bfe4f0668 100644 --- a/.github/workflows/main.yml +++ b/.github/workflows/main.yml @@ -26,7 +26,7 @@ jobs: shell: bash steps: - uses: actions/checkout@v3 - - uses: DoozyX/clang-format-lint-action@v0.12 + - uses: DoozyX/clang-format-lint-action@v0.18.1 with: source: "." exclude: "./3rd"