Bundle adjustment failed."

[yangninghua]

Hello, royshil, I completely run out of your program, but during the running process, the cmd interface prompts me, "Bundle adjustment failed", I have found the source of this sentence, in the file SfMBundleAdjustmentUtils.cpp, Lines 182-185, as follows

if (not (summary.termination_type == ceres::CONVERGENCE)) {
cerr << "Bundle adjustment failed." << endl;
return;
}

Does this situation mean that the program has an error? How should I solve it?

[chwahaha]

I have the same question. I can't find any information about what to do when BA failed.
Hope someone can help.

---- update---
I debug the program and found that most match was wrong , and I changed some set of the ORB, then it works.so when the it's not convergence, you can check the match.
hope that can help you.