BundleAdjustment

COLMAP's Bundle Adjuster uses Ceres Solver for Solving Non-linear Least Squares. Some of the following parameters are simply forwarded to Ceres as field of the Solver::Options class, which controls the overall behavior of the solver.

BundleAdjustment.refine_focal_length

default: 1 (enabled)
Whether to optimize focal length.

BundleAdjustment.refine_principal_point

default: 0 (disabled)
Whether to optimize the principal point.

BundleAdjustment.refine_extra_params

default: 1 (enabled)
Whether to optimize the rest of camera's intrinsic parameters (distortion coefficients, etc.).

BundleAdjustment.refine_extrinsics

default: 1 (enabled)
Whether to optimize extrinsic parameters.

BundleAdjustment.max_num_iterations

default: 100
Maximum number of iterations for which the solver should run.
See: Solver::Options::max_num_iterations

BundleAdjustment.max_linear_solver_iterations

default: 200
Minimum number of iterations used by the linear solver.
See: Solver::Options::max_linear_solver_iterations

BundleAdjustment.function_tolerance

default: 0
See: Solver::Options::function_tolerance

BundleAdjustment.gradient_tolerance

default: 0
See: Solver::Options::gradient_tolerance

BundleAdjustment.parameter_tolerance

default: 0
See: Solver::Options::parameter_tolerance