nit

Author: geoeo

src/sfm/bundle_adjustment/ba_config/conversions.rs

@@ -18,7 +18,7 @@ pub fn compute_absolute_poses_for_root(
 
     for path in paths {
         let mut pose_acc = Isometry3::<Float>::identity();
-        abs_pose_map.insert(path[0].0, pose_acc);
+        assert_eq!(path[0].0, root);
         for key in path {
             let pose = pose_map
                 .get(key)

src/sfm/bundle_adjustment/ba_config/mod.rs

@@ -118,10 +118,10 @@ impl<C: Camera<Float> + Clone, Feat: Feature>
 
         //TODO: Maybe remove this completely and the rejection be handled exclusively by filtring 
         let path_pairs = conversions::compute_path_id_pairs(root, &paths);
-        let abs_pose_map = conversions::compute_absolute_poses_for_root(root, &paths_pairs, &pose_map);
 
 
-        let landmark_map = compute_landmark_maps(&path_pairs, &abs_pose_map, &match_map, &camera_map, triangulation);
+
+        let landmark_map = compute_landmark_maps(&path_pairs, &pose_map, &match_map, &camera_map, triangulation);
         let reprojection_error_map =
             compute_reprojection_maps(
                 &path_pairs,
@@ -138,7 +138,7 @@ impl<C: Camera<Float> + Clone, Feat: Feature>
             max_reprojection_error_initial, min_reprojection_error_initial
         );
 
-
+        let abs_pose_map = conversions::compute_absolute_poses_for_root(root, &paths_pairs, &pose_map);
         BAConfig {
             root,
             paths: paths.clone(),