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Use MST initialization with huber loss #802

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Use MST initialization with huber loss #802

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5a2643b
Use MST init in Shonan
ayushbaid May 18, 2024
406798f
Use huber loss with MST init
ayushbaid May 18, 2024
ff3b67a
Merge branch 'feature/shonan_mst_init' into feature/shonan_mst_huber
ayushbaid May 26, 2024
eaf4c02
Bump up shonan optimality threshold param
ayushbaid May 28, 2024
03d754d
Turn off weighing by inliers
ayushbaid Jun 9, 2024
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14 changes: 9 additions & 5 deletions gtsfm/averaging/rotation/shonan.py
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Original file line number Diff line number Diff line change
Expand Up @@ -35,15 +35,18 @@

_DEFAULT_TWO_VIEW_ROTATION_SIGMA = 1.0

# The threshold for the smallest eigenvalue check in GTSAM. Defaults to -1e-4 in GTSAM.
_OPTIMALITY_THRESHOLD = -1e-5


class ShonanRotationAveraging(RotationAveragingBase):
"""Performs Shonan rotation averaging."""

def __init__(
self,
two_view_rotation_sigma: float = _DEFAULT_TWO_VIEW_ROTATION_SIGMA,
weight_by_inliers: bool = True,
use_mst_init: bool = False,
weight_by_inliers: bool = False,
use_mst_init: bool = True,
) -> None:
"""Initializes module.

Expand All @@ -56,16 +59,17 @@ def __init__(
"""
super().__init__()
self._p_min = 3
self._p_max = 64
self._p_max = 3
self._two_view_rotation_sigma = two_view_rotation_sigma
self._weight_by_inliers = weight_by_inliers
self._use_mst_init = use_mst_init

def __get_shonan_params(self) -> ShonanAveragingParameters3:
lm_params = LevenbergMarquardtParams.CeresDefaults()
shonan_params = ShonanAveragingParameters3(lm_params)
shonan_params.setUseHuber(False)
shonan_params.setCertifyOptimality(True)
shonan_params.setUseHuber(True)
shonan_params.setCertifyOptimality(False)
shonan_params.setOptimalityThreshold(_OPTIMALITY_THRESHOLD)
return shonan_params

def __measurements_from_2view_relative_rotations(
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2 changes: 1 addition & 1 deletion gtsfm/configs/unified.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -69,7 +69,7 @@ SceneOptimizer:

rot_avg_module:
_target_: gtsfm.averaging.rotation.shonan.ShonanRotationAveraging
weight_by_inliers: True
weight_by_inliers: False

trans_avg_module:
_target_: gtsfm.averaging.translation.averaging_1dsfm.TranslationAveraging1DSFM
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