Rename nonMatchingCost to matchingThreshold

src/apps/cost_matrix_based_matching/cost_matrix_no_hashing.cpp

@@ -41,7 +41,7 @@ int main(int argc, char *argv[]) {
       std::make_unique<loc::successor_manager::SuccessorManager>(
           database.get(), relocalizer.get(), parser.fanOut);
   loc::online_localizer::OnlineLocalizer localizer{
-      successorManager.get(), parser.expansionRate, parser.nonMatchCost};
+      successorManager.get(), parser.expansionRate, parser.matchingThreshold};
   const loc::online_localizer::Matches imageMatches =
       localizer.findMatchesTill(parser.querySize);
   loc::online_localizer::storeMatchesAsProto(imageMatches,

src/apps/cost_matrix_based_matching/online_localizer_lsh.cpp

@@ -90,7 +90,7 @@ int main(int argc, char *argv[]) {
       std::make_unique<loc::successor_manager::SuccessorManager>(
           database.get(), relocalizer.get(), parser.fanOut);
   loc::online_localizer::OnlineLocalizer localizer{
-      successorManager.get(), parser.expansionRate, parser.nonMatchCost};
+      successorManager.get(), parser.expansionRate, parser.matchingThreshold};
   const loc::online_localizer::Matches imageMatches =
       localizer.findMatchesTill(parser.querySize);
   loc::online_localizer::storeMatchesAsProto(imageMatches,

src/localization/online_localizer/online_localizer.cpp

@@ -48,17 +48,17 @@ const float kMaxLostNodesRatio = 0.8; // 80%
 
 OnlineLocalizer::OnlineLocalizer(
     successor_manager::SuccessorManager *successorManager, double expansionRate,
-    double nonMatchingCost) {
+    double matchingThreshold) {
 
   CHECK(successorManager) << "Successor manager is not set.";
   CHECK(expansionRate > 0 && expansionRate <= 1)
       << "Graph expansion rate should be in [0,1]. Obtained: " << expansionRate;
-  CHECK(nonMatchingCost > 0)
-      << "Non matching cost should be > 0. Obtained: " << nonMatchingCost;
+  CHECK(matchingThreshold > 0)
+      << "Matching threshold should be > 0. Obtained: " << matchingThreshold;
 
   successorManager_ = successorManager;
   expansionRate_ = expansionRate;
-  nonMatchingCost_ = nonMatchingCost;
+  matchingThreshold_ = matchingThreshold;
 
   pred_[kSourceNode.quId][kSourceNode.refId] = kSourceNode;
   Node source = kSourceNode;
@@ -315,7 +315,7 @@ std::vector<PathElement> OnlineLocalizer::getCurrentPath() const {
       source_reached = true;
       continue;
     }
-    NodeState state = pred.idvCost > nonMatchingCost_ ? HIDDEN : REAL;
+    NodeState state = pred.idvCost > matchingThreshold_ ? HIDDEN : REAL;
     PathElement pathEl(pred.quId, pred.refId, state);
     path.push_back(pathEl);
     pred = pred_.at(pred.quId).at(pred.refId);
@@ -362,7 +362,7 @@ std::vector<PathElement> OnlineLocalizer::getLastNmatches(int N) const {
       source_reached = true;
       continue;
     }
-    NodeState state = pred.idvCost > nonMatchingCost_ ? HIDDEN : REAL;
+    NodeState state = pred.idvCost > matchingThreshold_ ? HIDDEN : REAL;
     PathElement pathEl(pred.quId, pred.refId, state);
     path.push_back(pathEl);
     pred = pred_.at(pred.quId).at(pred.refId);

src/localization/online_localizer/online_localizer.h

@@ -46,7 +46,7 @@ class OnlineLocalizer {
   using AccCostsMap = std::unordered_map<int, std::unordered_map<int, double>>;
 
   OnlineLocalizer(successor_manager::SuccessorManager *successorManager,
-                  double expansionRate, double nonMatchingCost);
+                  double expansionRate, double matchingThreshold);
   ~OnlineLocalizer() {}
 
   Matches findMatchesTill(int queryId);
@@ -73,7 +73,7 @@ class OnlineLocalizer {
   int kSlidingWindowSize_ = 5; // frames
   bool needReloc_ = false;
   double expansionRate_ = -1.0;
-  double nonMatchingCost_ = -1.0;
+  double matchingThreshold_ = -1.0;
 
   std::priority_queue<Node> frontier_;
   // stores parent for each node

src/localization/tools/config_parser/config_parser.cpp

@@ -65,9 +65,9 @@ bool ConfigParser::parse(const std::string &iniFile) {
                 ss >> querySize;
             }
 
-            if (header == "nonMatchCost") {
+            if (header == "matchingThreshold") {
                 ss >> header;  // reads "="
-                ss >> nonMatchCost;
+                ss >> matchingThreshold;
                 continue;
             }
 
@@ -129,7 +129,7 @@ void ConfigParser::print() const {
     printf("== Path2ref: %s\n", path2ref.c_str());
 
     printf("== Query size: %d\n", querySize);
-    printf("== NonMatchCost: %3.4f\n", nonMatchCost);
+    printf("== matchingThreshold: %3.4f\n", matchingThreshold);
     printf("== Expansion Rate: %3.4f\n", expansionRate);
     printf("== FanOut: %d\n", fanOut);
 
@@ -165,8 +165,8 @@ bool ConfigParser::parseYaml(const std::string &yamlFile) {
     if (config["fanOut"]) {
         fanOut = config["fanOut"].as<int>();
     }
-    if (config["nonMatchCost"]) {
-        nonMatchCost = config["nonMatchCost"].as<double>();
+    if (config["matchingThreshold"]) {
+        matchingThreshold = config["matchingThreshold"].as<double>();
     }
     if (config["expansionRate"]) {
         expansionRate = config["expansionRate"].as<double>();

src/localization/tools/config_parser/config_parser.h

@@ -50,7 +50,7 @@ class ConfigParser {
     int querySize = -1;
     int fanOut = -1;
     int bufferSize = -1;
-    double nonMatchCost = -1.0;
+    double matchingThreshold = -1.0;
     double expansionRate = -1.0;
 };
 
@@ -96,9 +96,9 @@ class ConfigParser {
     \brief number of image features to be cached. Speeds up the computation for
    feature_based matching. Irrelevant for cost_matrix_based matching.
 */
-/*! \var double ConfigParser::nonMatchCost
+/*! \var double ConfigParser::matchingThreshold
     \brief maximum boundary for the matching cost to still be considered as a
-   match. For example, if `nonMatchCost = 5.0` then every smaller cost should
+   match. For example, if `matchingThreshold = 5.0` then every smaller cost should
    represent the fact that 2 images match and every higher cost represents the
    fact that 2 image descriptors do not represent the same place. (sensitive
    parameter, depends on the matched trajectories).

src/python/matching_scripts.py

@@ -14,7 +14,7 @@ class RunParameters:
     matchingResultImage: str = None
     expansionRate: float = 0.3
     fanOut: int = 5
-    nonMatchCost: float = 3.7
+    matchingThreshold: float = 3.7
     querySize: int = None
     bufferSize: int = 100