You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
Describe the bug
Hi! Running bundle-adjustment-in-the large example runs fine on the first 3 files from Trafalgar dataset, but fails when running on larger ones.
To Reproduce
Steps to reproduce the behavior, e.g.:
Compile symforce examples and download dataset using download_dataset
Run bundle-adjustment-in-the-large on problem-126 or any of the larger files
Expected behavior
The optimization to converge and return success, as it does for the smaller sized problems
Screenshots
Environment (please complete the following information):
The optimization goes better if you exclude the camera at index 72 for problems 126 and later (same deal with the camera at index 238 for problem 257). Camera 72 in particular seems to be poorly initialized with a position far away from the other cameras. Arguably the SymForce formulation could be made robust to this kind of outlier, though it's easy to identify and filter out prior to optimization.
Describe the bug
Hi! Running bundle-adjustment-in-the large example runs fine on the first 3 files from Trafalgar dataset, but fails when running on larger ones.
To Reproduce
Steps to reproduce the behavior, e.g.:
Expected behavior
The optimization to converge and return success, as it does for the smaller sized problems
Screenshots
Environment (please complete the following information):
The text was updated successfully, but these errors were encountered: