Merge pull request #377 from oddkiva/maint-refactor-ba

ENH: add basic bundle adjuster class.
oddkiva · May 23, 2024 · 393d0aa · 393d0aa
2 parents 7422172 + 0157d2b
commit 393d0aa
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Showing 9 changed files with 471 additions and 386 deletions.
diff --git a/cpp/drafts/Compute/CLBlast.hpp b/cpp/drafts/Compute/CLBlast.hpp
@@ -12,10 +12,11 @@
 #pragma once
 
 #include <DO/Sara/Core/DebugUtilities.hpp>
-#include <DO/Sara/Core/StringFormat.hpp>
 #include <DO/Sara/Core/Tensor.hpp>
 #include <DO/Sara/Core/Timer.hpp>
 
+#include <fmt/format.h>
+
 #if defined(__APPLE__) || defined(__MACOSX)
 #  include <OpenCL/cl.hpp>
 #else
@@ -115,13 +116,14 @@ namespace DO::Sara {
 
       if (status != clblast::StatusCode::kSuccess)
         throw std::runtime_error{
-            format("Batched GEMM operation failed! Status code = %d", status)};
+            fmt::format("Batched GEMM operation failed! Status code = {}",
+                        static_cast<int>(status))};
 
       clWaitForEvents(1, &event);
       clReleaseEvent(event);
     }
     const auto elapsed_time = timer.elapsed_ms();
-    SARA_DEBUG << format("Completed batched SGEMM in %.3lf ms", elapsed_time)
+    SARA_DEBUG << fmt::format("Completed batched SGEMM in {} ms", elapsed_time)
                << std::endl;
 
     {
@@ -130,9 +132,10 @@ namespace DO::Sara {
           /* offset */ 0, C.size() * sizeof(float), C.data());
 
       if (status)
-        throw std::runtime_error{format("Error: Failed to read buffer from "
-                                        "device to host! Status code = %d",
-                                        status)};
+        throw std::runtime_error{
+            fmt::format("Error: Failed to read buffer from device to host! "
+                        "Status code = {}",
+                        status)};
     }
   }
 

diff --git a/cpp/examples/Sara/MultiViewGeometry/CMakeLists.txt b/cpp/examples/Sara/MultiViewGeometry/CMakeLists.txt
@@ -56,7 +56,6 @@ target_link_libraries(
 
 # Bundle adjustment.
 sara_add_example(two_view_bundle_adjustment_example)
-target_include_directories(two_view_bundle_adjustment_example
-                           PRIVATE ${CERES_INCLUDE_DIRS})
-target_link_libraries(two_view_bundle_adjustment_example
-                      PRIVATE ${CERES_LIBRARIES})
+target_link_libraries(
+  two_view_bundle_adjustment_example #
+  PRIVATE DO::Sara::SfM)