Method Solve

deps/glomap/glomap/estimators/global_positioning.cc:24–82

}

bool GlobalPositioner::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) {
  if (images.empty()) {
    LOG(ERROR) << "Number of images = " << images.size();
    return false;
  }
  if (view_graph.image_pairs.empty() &&
      options_.constraint_type != GlobalPositionerOptions::ONLY_POINTS) {
    LOG(ERROR) << "Number of image_pairs = " << view_graph.image_pairs.size();
    return false;
  }
  if (tracks.empty() &&
      options_.constraint_type != GlobalPositionerOptions::ONLY_CAMERAS) {
    LOG(ERROR) << "Number of tracks = " << tracks.size();
    return false;
  }

  LOG(INFO) << "Setting up the global positioner problem";

  // Setup the problem.
  SetupProblem(view_graph, tracks);

  // Initialize camera translations to be random.
  // Also, convert the camera pose translation to be the camera center.
  InitializeRandomPositions(view_graph, images, tracks);

  // Add the camera to camera constraints to the problem.
  if (options_.constraint_type != GlobalPositionerOptions::ONLY_POINTS) {
    AddCameraToCameraConstraints(view_graph, images);
  }

  // Add the point to camera constraints to the problem.
  if (options_.constraint_type != GlobalPositionerOptions::ONLY_CAMERAS) {
    AddPointToCameraConstraints(cameras, images, tracks);
  }

  AddCamerasAndPointsToParameterGroups(images, tracks);

  // Parameterize the variables, set image poses / tracks / scales to be
  // constant if desired
  ParameterizeVariables(images, tracks);

  LOG(INFO) << "Solving the global positioner problem";

  ceres::Solver::Summary summary;
  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();
  }

  ConvertResults(images);
  return summary.IsSolutionUsable();