8000 fix bug caused by negative weight when calculating mst by cre185 · Pull Request #90 · colmap/glomap · GitHub
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fix bug caused by negative weight when calculating mst #90

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Merged
merged 4 commits into from
Sep 3, 2024
Merged

fix bug caused by negative weight when calculating mst #90

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832e77e
fix bug caused by negative weight when calculating mst
cre185 Aug 31, 2024
9f71c6c
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cre185 Sep 2, 2024
ed0890e
Update tree.cc
ahojnnes Sep 3, 2024
c606f6e
Update tree.cc
ahojnnes Sep 3, 2024
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18 changes: 14 additions & 4 deletions glomap/math/tree.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,16 @@ image_t MaximumSpanningTree(const ViewGraph& view_graph,
image_id_to_idx[image_id] = image_id_to_idx.size();
}

double max_weight = 0;
for (const auto& [pair_id, image_pair] : view_graph.image_pairs) {
if (image_pair.is_valid == false) continue;
if (type == INLIER_RATIO)
max_weight = std::max(max_weight, image_pair.weight);
else
max_weight =
std::max(max_weight, static_cast<double>(image_pair.inliers.size()));
}

// establish graph
weighted_graph G(image_id_to_idx.size());
weight_map weights_boost = boost::get(boost::edge_weight, G);
Expand All @@ -111,11 +121,11 @@ image_t MaximumSpanningTree(const ViewGraph& view_graph,
// spanning tree
e = boost::add_edge(idx1, idx2, G).first;
if (type == INLIER_NUM)
weights_boost[e] = -image_pair.inliers.size();
weights_boost[e] = max_weight - image_pair.inliers.size();
else if (type == INLIER_RATIO)
weights_boost[e] = -image_pair.weight;
weights_boost[e] = max_weight - image_pair.weight;
else
weights_boost[e] = -image_pair.inliers.size();
weights_boost[e] = max_weight - image_pair.inliers.size();
}

std::vector<edge_desc>
Expand All @@ -142,4 +152,4 @@ image_t MaximumSpanningTree(const ViewGraph& view_graph,
return idx_to_image_id[0];
}

}; // namespace glomap
}; // namespace glomap
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