commit 36a3309c8430c3bdf45a91dfe341e726a02a58f7
author Sameer Agarwal <sameeragarwal@google.com> Fri Aug 10 19:52:09 2012 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Mon Aug 13 07:17:14 2012 -0700
tree f7f08e74b789061e5c5fa907f0c15413cab19baa
parent 214561083b6af79dd36e975fcbfc534b9e5e1356

Add the ability to normalize BALProblem.

Refactor some of the perturbation code so that the
normalization and perturbation code can share the
camera decomposition code.

Change-Id: I084064976804a92f9240d8f5e10d1bb23dcb5ff2

examples/bundle_adjuster.cc

diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
index 1ef0766..530bda3 100644
--- a/examples/bundle_adjuster.cc
+++ b/examples/bundle_adjuster.cc
@@ -347,6 +347,7 @@
   Problem problem;
 
   SetRandomState(FLAGS_random_seed);
+  bal_problem.Normalize();
   bal_problem.Perturb(FLAGS_rotation_sigma,
                       FLAGS_translation_sigma,
                       FLAGS_point_sigma);
@@ -355,6 +356,8 @@
   Solver::Options options;
   SetSolverOptionsFromFlags(&bal_problem, &options);
   options.solver_log = FLAGS_solver_log;
+  options.gradient_tolerance *= 1e-3;
+
   Solver::Summary summary;
   Solve(options, &problem, &summary);
   std::cout << summary.FullReport() << "\n";