Require min 500 tracks for batch triangulation task

borglab · Oct 7, 2023 · 50cbe3e · 50cbe3e
1 parent af7ce85
commit 50cbe3e
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/gtsfm/data_association/data_assoc.py b/gtsfm/data_association/data_assoc.py
@@ -37,6 +37,7 @@
 # Heuristically set to limit the number of delayed tasks, as recommended by Dask:
 # https://docs.dask.org/en/stable/delayed-best-practices.html#avoid-too-many-tasks
 MAX_DELAYED_TRIANGULATION_CALLS = 1e3
+MIN_TRACKS_PER_BATCH = 500
 
 
 @dataclass(frozen=True)
@@ -242,7 +243,7 @@ def triangulate_batch(
         point3d_initializer = Point3dInitializer(cameras, self.triangulation_options)
 
         # Loop through tracks and and generate delayed triangulation tasks.
-        batch_size = int(np.ceil(len(tracks_2d) / MAX_DELAYED_TRIANGULATION_CALLS))
+        batch_size = max(int(np.ceil(len(tracks_2d) / MAX_DELAYED_TRIANGULATION_CALLS)), MIN_TRACKS_PER_BATCH)
         triangulation_results = []
         if batch_size == 1:
             for track_2d in tracks_2d: