From 101dccf5d2cbfd2d00117685e9afa3a674aff14b Mon Sep 17 00:00:00 2001
From: ymd-stella <world.applepie@gmail.com>
Date: Sat, 28 Oct 2023 18:58:04 +0900
Subject: [PATCH] Add option Relocalizer::max_num_local_keyfrms

---
 src/stella_vslam/module/relocalizer.cc | 12 +++++++-----
 src/stella_vslam/module/relocalizer.h  |  5 ++++-
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/stella_vslam/module/relocalizer.cc b/src/stella_vslam/module/relocalizer.cc
index e49c1cdf..1e7f5798 100644
--- a/src/stella_vslam/module/relocalizer.cc
+++ b/src/stella_vslam/module/relocalizer.cc
@@ -20,7 +20,8 @@ relocalizer::relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_o
                          const bool search_neighbor,
                          const unsigned int top_n_covisibilities_to_search,
                          const float num_common_words_thr_ratio,
-                         const unsigned int max_num_ransac_iter)
+                         const unsigned int max_num_ransac_iter,
+                         const unsigned int max_num_local_keyfrms)
     : min_num_bow_matches_(min_num_bow_matches), min_num_valid_obs_(min_num_valid_obs),
       bow_matcher_(bow_match_lowe_ratio, false), proj_matcher_(proj_match_lowe_ratio, false),
       robust_matcher_(robust_match_lowe_ratio, false),
@@ -28,7 +29,8 @@ relocalizer::relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_o
       search_neighbor_(search_neighbor),
       top_n_covisibilities_to_search_(top_n_covisibilities_to_search),
       num_common_words_thr_ratio_(num_common_words_thr_ratio),
-      max_num_ransac_iter_(max_num_ransac_iter) {
+      max_num_ransac_iter_(max_num_ransac_iter),
+      max_num_local_keyfrms_(max_num_local_keyfrms) {
     spdlog::debug("CONSTRUCT: module::relocalizer");
 }
 
@@ -43,7 +45,8 @@ relocalizer::relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_o
                   yaml_node["search_neighbor"].as<bool>(true),
                   yaml_node["top_n_covisibilities_to_search"].as<unsigned int>(10),
                   yaml_node["num_common_words_thr_ratio"].as<float>(0.8f),
-                  yaml_node["max_num_ransac_iter"].as<unsigned int>(30)) {
+                  yaml_node["max_num_ransac_iter"].as<unsigned int>(30),
+                  yaml_node["max_num_local_keyfrms"].as<unsigned int>(60)) {
 }
 
 relocalizer::~relocalizer() {
@@ -296,8 +299,7 @@ bool relocalizer::refine_pose(data::frame& curr_frm,
 bool relocalizer::refine_pose_by_local_map(data::frame& curr_frm,
                                            const std::shared_ptr<stella_vslam::data::keyframe>& candidate_keyfrm) const {
     // Create local map
-    constexpr unsigned int max_num_local_keyfrms = 10;
-    auto local_map_updater = module::local_map_updater(max_num_local_keyfrms);
+    auto local_map_updater = module::local_map_updater(max_num_local_keyfrms_);
     if (!local_map_updater.acquire_local_map(curr_frm.get_landmarks(), curr_frm.frm_obs_.num_keypts_)) {
         return false;
     }
diff --git a/src/stella_vslam/module/relocalizer.h b/src/stella_vslam/module/relocalizer.h
index da85df20..db34722e 100644
--- a/src/stella_vslam/module/relocalizer.h
+++ b/src/stella_vslam/module/relocalizer.h
@@ -29,7 +29,8 @@ class relocalizer {
                          const bool search_neighbor = true,
                          const unsigned int top_n_covisibilities_to_search = 10,
                          const float num_common_words_thr_ratio = 0.8f,
-                         const unsigned int max_num_ransac_iter = 30);
+                         const unsigned int max_num_ransac_iter = 30,
+                         const unsigned int max_num_local_keyfrms = 60);
 
     explicit relocalizer(const std::shared_ptr<optimize::pose_optimizer>& pose_optimizer, const YAML::Node& yaml_node);
 
@@ -96,6 +97,8 @@ class relocalizer {
     const float num_common_words_thr_ratio_ = 0.8f;
 
     const unsigned int max_num_ransac_iter_ = 30;
+
+    const unsigned int max_num_local_keyfrms_ = 60;
 };
 
 } // namespace module