d

lpanaf · lpanaf · commit 4a5bba2eba56 · 2025-07-03T22:40:05.000+02:00
diff --git a/glomap/estimators/bundle_adjustment.cc b/glomap/estimators/bundle_adjustment.cc
@@ -249,14 +249,6 @@ void BundleAdjuster::ParameterizeVariables(
     }
   }
 
-  if (counter > 0) {
-    // Set the first camera to be fixed to remove the gauge ambiguity.
-    problem_->SetParameterBlockConstant(
-        images[center].cam_from_world.rotation.coeffs().data());
-    problem_->SetParameterBlockConstant(
-        images[center].cam_from_world.translation.data());
-  }
-
   // Parameterize the camera parameters, or set them to be constant if desired
   if (options_.optimize_intrinsics && !options_.optimize_principal_point) {
     for (auto& [camera_id, camera] : cameras) {

Original file line number	Diff line number	Diff line change
`@@ -249,14 +249,6 @@ void BundleAdjuster::ParameterizeVariables(`
`249`	`249`	`}`
`250`	`250`	`}`
`251`	`251`
`252`		`- if (counter > 0) {`
`253`		`- // Set the first camera to be fixed to remove the gauge ambiguity.`
`254`		`- problem_->SetParameterBlockConstant(`
`255`		`- images[center].cam_from_world.rotation.coeffs().data());`
`256`		`- problem_->SetParameterBlockConstant(`
`257`		`- images[center].cam_from_world.translation.data());`
`258`		`- }`
`259`		`-`
`260`	`252`	`// Parameterize the camera parameters, or set them to be constant if desired`
`261`	`253`	`if (options_.optimize_intrinsics && !options_.optimize_principal_point) {`
`262`	`254`	`for (auto& [camera_id, camera] : cameras) {`