Remove Symbolic BA

Author: Fabien Servant

src/aliceVision/sfm/CMakeLists.txt

@@ -2,13 +2,11 @@
 set(sfm_bundle_files_headers
   bundle/BundleAdjustment.hpp
   bundle/BundleAdjustmentCeres.hpp
-  bundle/BundleAdjustmentSymbolicCeres.hpp
 )
 
 # Sources
 set(sfm_bundle_files_sources
   bundle/BundleAdjustmentCeres.cpp
-  bundle/BundleAdjustmentSymbolicCeres.cpp
 )
 
 set(sfm_files_headers

src/aliceVision/sfm/bundle/BundleAdjustmentSymbolicCeres.cpp

@@ -8,7 +8,6 @@
 
 #include <aliceVision/sfmData/SfMData.hpp>
 #include <aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp>
-#include <aliceVision/sfm/bundle/BundleAdjustmentSymbolicCeres.hpp>
 #include <aliceVision/geometry/lie.hpp>
 #include <aliceVision/geometry/Intersection.hpp>
 #include <aliceVision/sfm/utils/statistics.hpp>
@@ -182,14 +181,14 @@ BOOST_AUTO_TEST_CASE(test_intrinsics)
 
         sfmData.getIntrinsics().at(0) = pairIntrinsics.second;
 
-        sfm::BundleAdjustmentSymbolicCeres::CeresOptions options;
+        sfm::BundleAdjustmentCeres::CeresOptions options;
         sfm::BundleAdjustment::ERefineOptions refineOptions = sfm::BundleAdjustment::REFINE_INTRINSICS_FOCAL |
                                                               sfm::BundleAdjustment::REFINE_INTRINSICS_OPTICALOFFSET_ALWAYS |
                                                               sfm::BundleAdjustment::REFINE_INTRINSICS_DISTORTION;
         options.summary = false;
 
         double rmseBefore = sfm::RMSE(sfmData);
-        sfm::BundleAdjustmentSymbolicCeres BA(options);
+        sfm::BundleAdjustmentCeres BA(options);
         const bool success = BA.adjust(sfmData, refineOptions);
         double rmseAfter = sfm::RMSE(sfmData);
 
@@ -217,12 +216,12 @@ BOOST_AUTO_TEST_CASE(test_landmarks)
             lpt.second.X += Eigen::Vector3d::Random() * 0.1;
         }
 
-        sfm::BundleAdjustmentSymbolicCeres::CeresOptions options;
+        sfm::BundleAdjustmentCeres::CeresOptions options;
         sfm::BundleAdjustment::ERefineOptions refineOptions = sfm::BundleAdjustment::REFINE_STRUCTURE;
         options.summary = false;
 
         double rmseBefore = sfm::RMSE(sfmData);
-        sfm::BundleAdjustmentSymbolicCeres BA(options);
+        sfm::BundleAdjustmentCeres BA(options);
         const bool success = BA.adjust(sfmData, refineOptions);
         double rmseAfter = sfm::RMSE(sfmData);
 
@@ -260,12 +259,12 @@ BOOST_AUTO_TEST_CASE(test_poses)
             lps.second.setTransform(geometry::Pose3(U * T));
         }
 
-        sfm::BundleAdjustmentSymbolicCeres::CeresOptions options;
+        sfm::BundleAdjustmentCeres::CeresOptions options;
         sfm::BundleAdjustment::ERefineOptions refineOptions = sfm::BundleAdjustment::REFINE_ROTATION | sfm::BundleAdjustment::REFINE_TRANSLATION;
         options.summary = false;
 
         double rmseBefore = sfm::RMSE(sfmData);
-        sfm::BundleAdjustmentSymbolicCeres BA(options);
+        sfm::BundleAdjustmentCeres BA(options);
         const bool success = BA.adjust(sfmData, refineOptions);
         double rmseAfter = sfm::RMSE(sfmData);
 

src/aliceVision/sfm/bundle/BundleAdjustmentSymbolicCeres.hpp

@@ -6,15 +6,14 @@
 
 #include "SfmBundle.hpp"
 #include <aliceVision/sfm/sfmFilters.hpp>
-#include <aliceVision/sfm/bundle/BundleAdjustmentSymbolicCeres.hpp>
 #include <aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp>
 
 namespace aliceVision {
 namespace sfm {
 
 bool SfmBundle::process(sfmData::SfMData & sfmData, const track::TracksHandler & tracksHandler, const std::set<IndexT> & viewIds)
 {   
-    BundleAdjustmentSymbolicCeres::CeresOptions options;
+    BundleAdjustmentCeres::CeresOptions options;
     BundleAdjustment::ERefineOptions refineOptions;
 
     refineOptions |= BundleAdjustment::REFINE_ROTATION; 
@@ -28,7 +27,7 @@ bool SfmBundle::process(sfmData::SfMData & sfmData, const track::TracksHandler &
     }
 
     options.setSparseBA();
-    BundleAdjustmentSymbolicCeres bundleObject(options, _minNbCamerasToRefinePrincipalPoint);
+    BundleAdjustmentCeres bundleObject(options, _minNbCamerasToRefinePrincipalPoint);
 
     //Repeat until nothing change
     do 

src/aliceVision/sfm/bundle/bundleAdjustment_Enhanced_test.cpp

@@ -14,7 +14,6 @@
 #include <aliceVision/multiview/resection/ResectionSphericalKernel.hpp>
 #include <aliceVision/matching/supportEstimation.hpp>
 #include <aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp>
-#include <aliceVision/sfm/bundle/BundleAdjustmentSymbolicCeres.hpp>
 
 namespace aliceVision {
 namespace sfm {
@@ -162,7 +161,7 @@ bool SfmResection::internalRefinement(
         tinyScene.getLandmarks()[i] = std::move(landmark);
     }
 
-    BundleAdjustmentSymbolicCeres BA;
+    BundleAdjustmentCeres BA;
     BundleAdjustment::ERefineOptions refineOptions = BundleAdjustment::REFINE_ROTATION | BundleAdjustment::REFINE_TRANSLATION;
 
     const bool success = BA.adjust(tinyScene, refineOptions);

src/aliceVision/sfm/pipeline/expanding/SfmBundle.cpp

@@ -8,7 +8,6 @@
 #include "SfMLocalizer.hpp"
 #include <aliceVision/config.hpp>
 #include <aliceVision/sfm/bundle/BundleAdjustmentCeres.hpp>
-#include <aliceVision/sfm/bundle/BundleAdjustmentSymbolicCeres.hpp>
 #include <aliceVision/robustEstimation/ACRansac.hpp>
 #include <aliceVision/robustEstimation/LORansac.hpp>
 #include <aliceVision/robustEstimation/ScoreEvaluator.hpp>