Potential integration into pycolmap

[B1ueber2y]

Hey,

Thanks for the great work! Just want to say hi and let you know that we have just made it possible for running COLMAP BA with pycolmap and pyceres (colmap/colmap#2509), which can potentially open the door for building the optimization with pytorch as well. Might be interesting to substitute https://github.com/colmap/colmap/blob/main/pycolmap/custom_bundle_adjustment.py#L193-L205 and the PyBundleAdjuster (https://github.com/colmap/colmap/blob/main/pycolmap/custom_bundle_adjustment.py#L13) with pytorch to more easily integrate learning-based losses if we could make the optimizer achieve similar performance as in ceres : )

Best,
Shaohui

[Parskatt]

Hi, that's great news! My framework is mostly just educational (and trying to keep it as not too many lines), so I don't expect it to outperform proper bundle, but definitely something I'll check out.