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release/4.3a0
Varun Agrawal 2020-11-30 17:32:16 -05:00
parent 3e6efe3a51
commit 799788672f
1 changed files with 9 additions and 8 deletions
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17
examples/ShonanAveragingCLI.cpp
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@ -25,7 +25,8 @@
* Read 3D dataset sphere25000.txt and output to shonan.g2o (default) * Read 3D dataset sphere25000.txt and output to shonan.g2o (default)
* ./ShonanAveragingCLI -i spere2500.txt * ./ShonanAveragingCLI -i spere2500.txt
* *
* If you prefer using a robust Huber loss, you can add the option "-h true", for instance * If you prefer using a robust Huber loss, you can add the option "-h true",
* for instance
* ./ShonanAveragingCLI -i spere2500.txt -u true * ./ShonanAveragingCLI -i spere2500.txt -u true
*/ */
@ -62,9 +63,9 @@ int main(int argc, char* argv[]) {
"dimension,d", po::value<int>(&d)->default_value(3), "dimension,d", po::value<int>(&d)->default_value(3),
"Optimize over 2D or 3D rotations")( "Optimize over 2D or 3D rotations")(
"useHuberLoss,h", po::value<bool>(&useHuberLoss)->default_value(false), "useHuberLoss,h", po::value<bool>(&useHuberLoss)->default_value(false),
"set True to use Huber loss")( "set True to use Huber loss")("pMin,p",
"pMin,p", po::value<int>(&pMin)->default_value(3), po::value<int>(&pMin)->default_value(3),
"set to use desired rank pMin")( "set to use desired rank pMin")(
"seed,s", po::value<int>(&seed)->default_value(42), "seed,s", po::value<int>(&seed)->default_value(42),
"Random seed for initial estimate"); "Random seed for initial estimate");
po::variables_map vm; po::variables_map vm;
@ -97,9 +98,9 @@ int main(int argc, char* argv[]) {
cout << "Running Shonan averaging for SO(2) on " << inputFile << endl; cout << "Running Shonan averaging for SO(2) on " << inputFile << endl;
ShonanAveraging2::Parameters parameters(lmParams); ShonanAveraging2::Parameters parameters(lmParams);
parameters.setUseHuber(useHuberLoss); parameters.setUseHuber(useHuberLoss);
ShonanAveraging2 shonan(inputFile,parameters); ShonanAveraging2 shonan(inputFile, parameters);
auto initial = shonan.initializeRandomly(rng); auto initial = shonan.initializeRandomly(rng);
auto result = shonan.run(initial,pMin); auto result = shonan.run(initial, pMin);
// Parse file again to set up translation problem, adding a prior // Parse file again to set up translation problem, adding a prior
boost::tie(inputGraph, posesInFile) = load2D(inputFile); boost::tie(inputGraph, posesInFile) = load2D(inputFile);
@ -113,9 +114,9 @@ int main(int argc, char* argv[]) {
cout << "Running Shonan averaging for SO(3) on " << inputFile << endl; cout << "Running Shonan averaging for SO(3) on " << inputFile << endl;
ShonanAveraging3::Parameters parameters(lmParams); ShonanAveraging3::Parameters parameters(lmParams);
parameters.setUseHuber(useHuberLoss); parameters.setUseHuber(useHuberLoss);
ShonanAveraging3 shonan(inputFile,parameters); ShonanAveraging3 shonan(inputFile, parameters);
auto initial = shonan.initializeRandomly(rng); auto initial = shonan.initializeRandomly(rng);
auto result = shonan.run(initial,pMin); auto result = shonan.run(initial, pMin);
// Parse file again to set up translation problem, adding a prior // Parse file again to set up translation problem, adding a prior
boost::tie(inputGraph, posesInFile) = load3D(inputFile); boost::tie(inputGraph, posesInFile) = load3D(inputFile);