tree 329f8345a53e26a8407d4896b50441e4f6fe3f53
parent bfc916cf1cf753b85c1e2ac037e2019ee891f6f9
author Sameer Agarwal <sameeragarwal@google.com> 1472365315 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1472647604 -0700

Use ProductParameterization in bundle_adjuster.cc

Previously, when using a quaternion to parameterize the camera
orientation, the camera parameter block was split into two
parameter blocks. One for the rotation and another for the
translation and intrinsics. This was to enable the use of the
Quaternion parameterization.

Now that we have a ProductParameterization which allows us
to compose multiple parameterizations, this is no longer needed
and we use a size 10 parameter block instead.

This leads to a more than 2x improvements in the linear solver time.

Change-Id: I78b8f06696f81fee54cfe1a4ae193ee8a5f8e920