Analytical Jacobians for reprojection error cost function with SimpleRadial cameras#4017
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Analytical Jacobians for reprojection error cost function with SimpleRadial cameras#4017
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B1ueber2y
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Jan 17, 2026
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Thank you! I agree that extending to all models makes sense, if there is a consistent 10-20% improvement. Wondering if it makes sense to create a bundle adjustment runtime benchmark in colmap with the synthetic tooling.
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@B1ueber2y If have some hacky benchmark: #4022 |
B1ueber2y
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Jan 18, 2026
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Reminder not to forget to update the PR title to specify SimpleRadial : ) |
ahojnnes
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Makes BA ~10% faster on south building with ~100 cameras and synthetic tests. More camera models and cost functions to be added later.