Function SolveProblem

examples/bundle_adjuster.cc:348–376

}

void SolveProblem(const char* filename) {
  BALProblem bal_problem(filename, CERES_GET_FLAG(FLAGS_use_quaternions));

  if (!CERES_GET_FLAG(FLAGS_initial_ply).empty()) {
    bal_problem.WriteToPLYFile(CERES_GET_FLAG(FLAGS_initial_ply));
  }

  Problem problem;

  srand(CERES_GET_FLAG(FLAGS_random_seed));
  bal_problem.Normalize();
  bal_problem.Perturb(CERES_GET_FLAG(FLAGS_rotation_sigma),
                      CERES_GET_FLAG(FLAGS_translation_sigma),
                      CERES_GET_FLAG(FLAGS_point_sigma));

  BuildProblem(&bal_problem, &problem);
  Solver::Options options;
  SetSolverOptionsFromFlags(&bal_problem, &options);
  options.gradient_tolerance = 1e-16;
  options.function_tolerance = 1e-16;
  options.parameter_tolerance = 1e-16;
  Solver::Summary summary;
  Solve(options, &problem, &summary);
  std::cout << summary.FullReport() << "\n";

  if (!CERES_GET_FLAG(FLAGS_final_ply).empty()) {
    bal_problem.WriteToPLYFile(CERES_GET_FLAG(FLAGS_final_ply));
  }
}

}  // namespace
}  // namespace ceres::examples