Comparison of Bundle Adjustment optimization using JSO and NLLSsolver in Julia

nllssolver_vs_jso.jl

# JSO
using BundleAdjustmentModels, CaNNOLeS

function jso_func()
    # Dry run to do compilation
    model = BundleAdjustmentModel("problem-16-22106")
    stats = cannoles(model, method=:Newton_noFHess)

    # Output these results
    model = BundleAdjustmentModel("problem-16-22106")
    @time stats = cannoles(model, method=:Newton_noFHess)
    print(stats)
end


# NLLSsolver
using VisualGeometryOptimization, NLLSsolver

function nlls_func()
    # Optimize the problem
    options = NLLSsolver.NLLSOptions(iterator=NLLSsolver.levenbergmarquardt, reldcost=1.0e-6)

    # Dry run to do the compilation
    problem = loadBALproblem("problem-16-22106")
    NLLSsolver.optimize!(problem, options)

    # Repeat the optimization, and report the timings
    problem = loadBALproblem("problem-16-22106")
    @time result = NLLSsolver.optimize!(problem, options)
    display(result)
end

# Run the tests
jso_func()
nlls_func()