Method Solve

deps/glomap/glomap/estimators/bundle_adjustment.cc:9–51

namespace glomap {

bool BundleAdjuster::Solve(const ViewGraph& view_graph,
                           std::unordered_map<camera_t, Camera>& cameras,
                           std::unordered_map<image_t, Image>& images,
                           std::unordered_map<track_t, Track>& tracks) {
  // Check if the input data is valid
  if (images.empty()) {
    LOG(ERROR) << "Number of images = " << images.size();
    return false;
  }
  if (tracks.empty()) {
    LOG(ERROR) << "Number of tracks = " << tracks.size();
    return false;
  }

  // Reset the problem
  Reset();

  // Add the constraints that the point tracks impose on the problem
  AddPointToCameraConstraints(view_graph, cameras, images, tracks);

  // Add the cameras and points to the parameter groups for schur-based
  // optimization
  AddCamerasAndPointsToParameterGroups(cameras, images, tracks);

  // Parameterize the variables
  ParameterizeVariables(cameras, images, tracks);

  // Set the solver options.
  ceres::Solver::Summary summary;

  // Do not use the iterative solver, as it does not seem to be helpful
  options_.solver_options.linear_solver_type = ceres::SPARSE_SCHUR;
  options_.solver_options.preconditioner_type = ceres::CLUSTER_TRIDIAGONAL;

  options_.solver_options.minimizer_progress_to_stdout = VLOG_IS_ON(2);
  ceres::Solve(options_.solver_options, problem_.get(), &summary);
  if (VLOG_IS_ON(2))
    LOG(INFO) << summary.FullReport();
  else
    LOG(INFO) << summary.BriefReport();

  return summary.IsSolutionUsable();
}

void BundleAdjuster::Reset() {
  ceres::Problem::Options problem_options;