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Fix local map size and improve performance #587

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merged 2 commits into from
May 1, 2024
Merged

Fix local map size and improve performance #587

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f34e502
Fix local map size
ymd-stella May 1, 2024
f3b741f
Use partial_sort
ymd-stella May 1, 2024
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20 changes: 15 additions & 5 deletions src/stella_vslam/module/local_map_updater.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -75,8 +75,18 @@ auto local_map_updater::count_num_shared_lms(
for (auto& it : keyfrm_to_num_shared_lms) {
num_shared_lms_and_keyfrm.emplace_back(it.second, it.first);
}
std::sort(num_shared_lms_and_keyfrm.begin(), num_shared_lms_and_keyfrm.end(),
greater_number_and_id_object_pairs<unsigned int, data::keyframe>());
constexpr int margin = 5; // Keep a little more than max_num_local_keyfrms_, as keyframes may be deleted.
if (num_shared_lms_and_keyfrm.size() > max_num_local_keyfrms_ + margin) {
std::partial_sort(num_shared_lms_and_keyfrm.begin(),
num_shared_lms_and_keyfrm.begin() + max_num_local_keyfrms_ + margin,
num_shared_lms_and_keyfrm.end(),
greater_number_and_id_object_pairs<unsigned int, data::keyframe>());
}
else {
std::sort(num_shared_lms_and_keyfrm.begin(),
num_shared_lms_and_keyfrm.end(),
greater_number_and_id_object_pairs<unsigned int, data::keyframe>());
}

return num_shared_lms_and_keyfrm;
}
Expand Down Expand Up @@ -143,7 +153,7 @@ auto local_map_updater::find_second_local_keyframes(const std::vector<std::share
return true;
};
for (auto iter = first_local_keyframes.cbegin(); iter != first_local_keyframes.cend(); ++iter) {
if (max_num_local_keyfrms_ < first_local_keyframes.size() + second_local_keyfrms.size()) {
if (max_num_local_keyfrms_ <= first_local_keyframes.size() + second_local_keyfrms.size()) {
break;
}

Expand All @@ -153,7 +163,7 @@ auto local_map_updater::find_second_local_keyframes(const std::vector<std::share
const auto neighbors = keyfrm->graph_node_->get_top_n_covisibilities(10);
for (const auto& neighbor : neighbors) {
add_second_local_keyframe(neighbor);
if (max_num_local_keyfrms_ < first_local_keyframes.size() + second_local_keyfrms.size()) {
if (max_num_local_keyfrms_ <= first_local_keyframes.size() + second_local_keyfrms.size()) {
return second_local_keyfrms;
}
}
Expand All @@ -162,7 +172,7 @@ auto local_map_updater::find_second_local_keyframes(const std::vector<std::share
const auto spanning_children = keyfrm->graph_node_->get_spanning_children();
for (const auto& child : spanning_children) {
add_second_local_keyframe(child);
if (max_num_local_keyfrms_ < first_local_keyframes.size() + second_local_keyfrms.size()) {
if (max_num_local_keyfrms_ <= first_local_keyframes.size() + second_local_keyfrms.size()) {
return second_local_keyfrms;
}
}
Expand Down
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