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minor comments change

release/4.3a0
akrishnan86 2020-07-20 23:45:45 -07:00
parent c1c8b0a1a3
commit 0eec6fbeec
3 changed files with 14 additions and 11 deletions
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2
gtsam/sfm/MFAS.cpp
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@ -120,7 +120,7 @@ std::map<KeyPair, double> MFAS::computeOutlierWeights() {
for (auto it = start; it != end; it++) {
// relativeTranslations may have negative weight edges, we make sure all edges
// are along the postive direction by flipping them if they are not.
// are along the positive direction by flipping them if they are not.
KeyPair edge = it->first;
if (positiveEdgeWeights_.find(edge) == positiveEdgeWeights_.end()) {
std::swap(edge.first, edge.second);

17
gtsam/sfm/MFAS.h
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@ -25,7 +25,7 @@ namespace gtsam {
using KeyPair = std::pair<Key, Key>;
using TranslationEdges = std::map<KeyPair, Unit3>;
/*
/**
The MFAS class to solve a Minimum feedback arc set (MFAS)
problem. We implement the solution from:
Kyle Wilson and Noah Snavely, "Robust Global Translations with 1DSfM",
@ -34,12 +34,13 @@ using TranslationEdges = std::map<KeyPair, Unit3>;
Given a weighted directed graph, the objective in a Minimum feedback arc set
problem is to obtain a graph that does not contain any cycles by removing
edges such that the total weight of removed edges is minimum.
@addtogroup SFM
*/
class MFAS {
public:
/*
/**
* @brief Construct from the nodes in a graph (points in 3D), edges
* that are transation directions in 3D and the direction in
* that are translation directions in 3D and the direction in
* which edges are to be projected.
* @param nodes Nodes in the graph
* @param relativeTranslations translation directions between nodes
@ -49,8 +50,8 @@ class MFAS {
const std::shared_ptr<TranslationEdges> &relativeTranslations,
const Unit3 &projectionDirection);
/*
* Construct from the nodes in a graph and weighted directed edges
/**
* @brief Construct from the nodes in a graph and weighted directed edges
* between the graph. Not recommended for any purpose other than unit testing.
* The computeOutlierWeights method will return an empty output if this constructor
* is used.
@ -62,7 +63,7 @@ class MFAS {
MFAS(const std::shared_ptr<std::vector<Key>> &nodes,
const std::map<KeyPair, double> &edgeWeights);
/*
/**
* @brief Computes the "outlier weights" of the graph. We define the outlier weight
* of a edge to be zero if the edge in an inlier and the magnitude of its edgeWeight
* if it is an outlier. This function can only be used when constructing the
@ -70,8 +71,8 @@ class MFAS {
*/
std::map<KeyPair, double> computeOutlierWeights();
/*
* Computes the 1D MFAS ordering of nodes in the graph
/**
* @brief Computes the 1D MFAS ordering of nodes in the graph
* @return orderedNodes: vector of nodes in the obtained order
*/
std::vector<Key> computeOrdering();

6
gtsam/sfm/tests/testMFAS.cpp
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@ -5,12 +5,14 @@
using namespace std;
using namespace gtsam;
/* We (partially) use the example from the paper on 1dsfm
/**
* We (partially) use the example from the paper on 1dsfm
* (https://research.cs.cornell.edu/1dsfm/docs/1DSfM_ECCV14.pdf, Fig 1, Page 5)
* for the unit tests here. The only change is that we leave out node 4 and use
* only nodes 0-3. This makes the test easier to understand and also
* avoids an ambiguity in the ground truth ordering that arises due to
* insufficient edges in the geaph when using the 4th node. */
* insufficient edges in the geaph when using the 4th node.
*/
// edges in the graph - last edge from node 3 to 0 is an outlier
vector<KeyPair> graph = {make_pair(3, 2), make_pair(0, 1), make_pair(3, 1),