During the tests I’ve found out that bundle adjustment is failing on some “bad frames”. There two ways to deal with it – reject bad frames or try to understand what happen – who set up us a bomb? :-).Any problem is also an opportunity to understand subject better. For now I suspect Gauss-Newton is failing due to too big residue. Just adding Hessian to does not help – I’m getting negative eigenvalue. So now I’m trying quasi-Newton from the excellent book by Nocedal&Wright. If it will not help I’ll try hybrid Fletcher method.
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