{"action":"created","issue":{"url":"https://api.github.com/repos/sweeneychris/TheiaSfM/issues/43","labels_url":"https://api.github.com/repos/sweeneychris/TheiaSfM/issues/43/labels{/name}","comments_url":"https://api.github.com/repos/sweeneychris/TheiaSfM/issues/43/comments","events_url":"https://api.github.com/repos/sweeneychris/TheiaSfM/issues/43/events","html_url":"https://github.com/sweeneychris/TheiaSfM/issues/43","id":119609681,"number":43,"title":"Triangulation enhancement","user":{"login":"nosleduc","id":15876957,"avatar_url":"https://avatars.githubusercontent.com/u/15876957?v=3","gravatar_id":"","url":"https://api.github.com/users/nosleduc","html_url":"https://github.com/nosleduc","followers_url":"https://api.github.com/users/nosleduc/followers","following_url":"https://api.github.com/users/nosleduc/following{/other_user}","gists_url":"https://api.github.com/users/nosleduc/gists{/gist_id}","starred_url":"https://api.github.com/users/nosleduc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/nosleduc/subscriptions","organizations_url":"https://api.github.com/users/nosleduc/orgs","repos_url":"https://api.github.com/users/nosleduc/repos","events_url":"https://api.github.com/users/nosleduc/events{/privacy}","received_events_url":"https://api.github.com/users/nosleduc/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/sweeneychris/TheiaSfM/labels/enhancement","name":"enhancement","color":"84b6eb"},{"url":"https://api.github.com/repos/sweeneychris/TheiaSfM/labels/question","name":"question","color":"cc317c"}],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-11-30T23:57:44Z","updated_at":"2015-12-01T00:10:52Z","closed_at":null,"body":"Did you read this article \"Fury of the Swarm: Efficient and Very Accurate Triangulation for Multi-View\r\nScene Reconstruction\" to improve triangulation ?"},"comment":{"url":"https://api.github.com/repos/sweeneychris/TheiaSfM/issues/comments/160804947","html_url":"https://github.com/sweeneychris/TheiaSfM/issues/43#issuecomment-160804947","issue_url":"https://api.github.com/repos/sweeneychris/TheiaSfM/issues/43","id":160804947,"user":{"login":"sweeneychris","id":799414,"avatar_url":"https://avatars.githubusercontent.com/u/799414?v=3","gravatar_id":"","url":"https://api.github.com/users/sweeneychris","html_url":"https://github.com/sweeneychris","followers_url":"https://api.github.com/users/sweeneychris/followers","following_url":"https://api.github.com/users/sweeneychris/following{/other_user}","gists_url":"https://api.github.com/users/sweeneychris/gists{/gist_id}","starred_url":"https://api.github.com/users/sweeneychris/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sweeneychris/subscriptions","organizations_url":"https://api.github.com/users/sweeneychris/orgs","repos_url":"https://api.github.com/users/sweeneychris/repos","events_url":"https://api.github.com/users/sweeneychris/events{/privacy}","received_events_url":"https://api.github.com/users/sweeneychris/received_events","type":"User","site_admin":false},"created_at":"2015-12-01T00:10:52Z","updated_at":"2015-12-01T00:10:52Z","body":"I have briefly read this article and the authors' related works. The papers, in my own opinion, do not give very convincing results that they are better than alternative methods like the DLT or midpoint algorithms for triangulation (no direct comparison given). For SfM in Theia, we apply nonlinear optimization to 3D points after initial estimation with the midpoint algorithm (see here: https://github.com/sweeneychris/TheiaSfM/blob/master/src/theia/sfm/estimate_track.cc#L204). Note that we only optimize the 3D point, so it is not bundle adjustment at this point (that happens later)\r\n\r\nI can't say I have ever had triangulation + refinement give unsatisfactory accuracy or efficiency in SfM... Are you finding Theia's triangulation to be inadequate? I'm always open to suggestions"}}