What if all cameras share the same intrinsics?

[ghost]

Thanks for sharing your excellent work.

In SfM, it is a very common scenario that all (part of, at least) cameras share the same camera intrinsics Matrix and Undistort parameters(k1, k2, p1, etc...), and these camera intrinsics are also variables to be estimated. In another words, like ceres did, if the element groups include 3 types: "camera_intrinsics, image_poses, points", Will the system generalize to this kind of problem?

How to do this? Hope to receiving your advice.

[JieRen98]

Sorry for the late reply, I agree the feature you mentioned is very important. Since on GPU, the data transferring is of high latency, all the data layouts are predetermined and the data layout you mentioned is not supported yet. So currently, MegBA does not support it. We will support it later. Best regards, Jie