From f4278d481783c1539601b66606cda27360e101bf Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sat, 16 Apr 2022 21:41:17 +0200
Subject: [PATCH] Use loss function option from user params
---
src/processor/processor_visual_odometry.cpp | 22 ++++++++++++++++-----
1 file changed, 17 insertions(+), 5 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 5fd51290f..8739a74e2 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -418,20 +418,32 @@ void ProcessorVisualOdometry::establishFactors()
// 1) create a factor between new KF and assocatiated track landmark
// HYP: assuming the trackid are the same as the landmark ID -> BAD if other types of landmarks involved
- if (associated_lmk){
+ if (associated_lmk)
+ {
LandmarkHpPtr associated_lmk_hp = std::dynamic_pointer_cast<LandmarkHp>(associated_lmk);
- FactorBase::emplace<FactorPixelHp>(feat_pi, feat_pi, associated_lmk_hp, shared_from_this(), true);
+ FactorBase::emplace<FactorPixelHp>(feat_pi,
+ feat_pi,
+ associated_lmk_hp,
+ shared_from_this(),
+ params_visual_odometry_->apply_loss_function);
}
// 2) create landmark if track is not associated with one and has enough length
- else if(track_matrix_.trackSize(feat->trackId()) >= params_visual_odometry_->min_track_length_for_landmark_){
+ else if(track_matrix_.trackSize(feat->trackId()) >= params_visual_odometry_->min_track_length_for_landmark_)
+ {
// std::cout << "NEW valid track \\o/" << std::endl;
LandmarkBasePtr lmk = emplaceLandmark(feat_pi);
lmk->setId(feat_pi->trackId());
+
+ // Add factors from all KFs of this track to the new lmk
Track track_kf = track_matrix_.trackAtKeyframes(feat->trackId());
- for (auto feat_kf: track_kf){
+ for (auto feat_kf: track_kf)
+ {
LandmarkHpPtr lmk_hp = std::dynamic_pointer_cast<LandmarkHp>(lmk);
- FactorBase::emplace<FactorPixelHp>(feat_kf.second, feat_kf.second, lmk_hp, shared_from_this(), true);
+ FactorBase::emplace<FactorPixelHp>(feat_kf.second,
+ feat_kf.second,
+ lmk_hp, shared_from_this(),
+ params_visual_odometry_->apply_loss_function);
}
}
}
--
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