BundleShotPoses possibly broken #1083
Description
I have a simple setup with some images to reconstruct, all taken by the same camera. As I understand the code, individual shots are added to a fake rig instance that only contains the one shot.
In the reconstruction step grow_reconstruction the newly added shots are passed to bundle_shot_poses.
As the newly added shot has the fake rig_instance_id with the same id as the shot_id, rig_instances_ids now only contains the newly added shot. In Line 481 the rig_instances_ids are iterated and the corresponding shots are added to the bundle problem (Line 516).
As part of this it is checked if the found shot_id is in the list of the newly-added shots (which are supposed to be bundled), and this is always the case. So all shots are fixed and the BA only consists of constant blocks. See the ceres summary full-report:
Solver Summary (v 2.1.0-eigen-(3.4.0)-lapack-eigensparse-no_openmp)
Original Reduced
Parameter blocks 67 0
Parameters 216 0
Residual blocks 65 0
Residuals 140 0
Minimizer TRUST_REGION
Sparse linear algebra library EIGEN_SPARSE
Trust region strategy LEVENBERG_MARQUARDT
Given Used
Linear solver DENSE_QR SPARSE_NORMAL_CHOLESKY
Threads 20 20
Linear solver ordering AUTOMATIC AUTOMATIC
Cost:
Initial 9.919183e-01
Final 9.919183e-01
Change 0.000000e+00
Minimizer iterations -2
Successful steps -1
Unsuccessful steps -1
Time (in seconds):
Preprocessor 0.000770
Residual only evaluation -1.000000 (-1)
Jacobian & residual evaluation -1.000000 (-1)
Linear solver -1.000000 (-1)
Minimizer 0.000000
Postprocessor 0.000002
Total 0.000772
Termination: CONVERGENCE (Function tolerance reached. No non-constant parameter blocks found.)
As I see this, the newly added shot is always set to fixed and the complete bundle of the newly added shots-poses never work. How the whole thing works when real rigs are used, I can not foresee, but even with single shots the BundleShotPoses should do something.