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Is the bundle adjustment used correctly in the SfM from multiple views example?

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hekimgil
hekimgil 2016-5-20
I was going over the SfM from multiple views example and I noticed that the bundleAdjustment is used every time an image is added to the set. I thought the bundle adjustment procedure was done only once after all the images are added and processed? So is this a correct use in the example? Would using bundle adjustment for every image in the loop not increase the errors?

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