Summary of Changes

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This pull request significantly improves the resilience of the bundle adjustment process by implementing an automatic fallback mechanism. When GPU-based optimization encounters certain failure conditions, the system will now gracefully switch to using the CPU solver, preventing complete failure and ensuring that the bundle adjustment can still be completed. This enhances the overall stability and user experience, especially in environments where GPU resources might be unstable or configurations might lead to specific GPU-related errors.

Highlights

• Robust GPU Bundle Adjustment: Introduced a SolveWithGpuFallback function that attempts to perform bundle adjustment using the GPU. If the GPU solver fails due to specific CUDA initialization, non-numeric values, or Jacobian creation issues, the system automatically retries the optimization using the CPU solver.
• Integration into Bundle Adjusters: The new fallback logic has been integrated into both DefaultBundleAdjuster and PosePriorBundleAdjuster classes, replacing direct calls to ceres::Solve with the new SolveWithGpuFallback function.

• src/colmap/estimators/bundle_adjustment_ceres.cc
  • Added a new helper function SolveWithGpuFallback to encapsulate the GPU-to-CPU fallback logic for Ceres solver.
  • Updated the DefaultBundleAdjuster::Adjust method to utilize the new SolveWithGpuFallback function.
  • Updated the PosePriorBundleAdjuster::Adjust method to utilize the new SolveWithGpuFallback function.

• No activity has been recorded for this pull request yet.

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ahojnnes deleted the user/jsch/gpu-solver-fallback branch