function?graph?=?bundleAdjustment（graph?adjustFocalLength）

%?convert?from?Rt?matrix?to?AngleAxis
nCam=length（graph.frames）;
Mot?=?zeros（32nCam）;
for?camera=1:nCam
????Mot（:1camera）?=?RotationMatrix2AngleAxis（graph.Mot（:1:3camera））;
????Mot（:2camera）?=?graph.Mot（:4camera）;
end



Str?=?graph.Str;
f??=?graph.f;


%?assume?px?py=0
px?=?0;
py?=?0;



residuals?=?reprojectionResidual（graph.ObsIdxgraph.ObsValpxpyfMotStr）;
fprintf（‘initial?error?=?%f\n‘?2*sqrt（sum（residuals.^2）/length（residuals）））;

%?bundle?adjustment?using?lsqnonlin?in?Matlab?（Levenberg-Marquardt）
options?=?optimoptions（@lsqnonlin‘Algorithm‘‘levenberg-marquardt‘‘Display‘‘off‘）;

%?adjust?structure?[for?homework]
%?!!!?fill?in?your?code?here
%fprintf（‘error?=?%f\n‘?2*sqrt（resnorm/length（residuals）））;

%?adjust?motion?[for?homework]
%?!!!?fill?in?your?code?here
%fprintf（‘error?=?%f\n‘?2*sqrt（resnorm/length（residuals）））;

%?adjust?motion?and?structure
[vecresnormresidualsexitflag]?=?lsqnonlin（@（x）?reprojectionResidual（graph.ObsIdxgraph.ObsValpxpyfx）?[Mot（:）;?Str（:）][][]options）;
[MotStr]?=?unpackMotStrf（nCamvec）;
fprintf（‘error?=?%f\n‘?2*sqrt（resnorm/length（residuals）））;


if?exist（‘adjustFocalLength‘‘var‘）?&&?adjustFocalLength
????%?adjust?focal?length?motion?and?structure
????[vecresnormresidualsexitflag]?=?lsqnonlin（@（x）?reprojectionResidual（graph.ObsIdxgraph.ObsValpxpyx）?[f;?Mot（:）;?Str（:）][][]options）;
????[MotStrf]?=?unpackMotStrf（nCamvec）;
????fprintf（‘error?=?%f\n‘?resnorm/length（residuals））;
????graph.f?=?f;
end


%residuals?=?reprojectionResidual（graph.ObsIdxgraph.ObsValpxpyfMotStr）;
%fprintf（‘final?error?=?%f\n‘?2*sqrt（sum（residuals.^2）/length（residuals）））;


for?camera=1:nCam
????graph.Mot（::camera）?=?[AngleAxis2RotationMatrix（Mot（:1camera））??Mot（:2camera）];????
end
graph.Str?=?Str;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2014-11-15?15:22??SFMedu2\
?????文件???????24580??2014-11-15?15:22??SFMedu2\.DS_Store
?????目錄???????????0??2014-11-15?15:23??__MACOSX\
?????目錄???????????0??2014-11-15?15:23??__MACOSX\SFMedu2\
?????文件?????????222??2014-11-15?15:22??__MACOSX\SFMedu2\._.DS_Store
?????文件????????1856??2014-09-03?18:08??SFMedu2\bundleAdjustment.m
?????文件?????????222??2014-09-03?18:08??__MACOSX\SFMedu2\._bundleAdjustment.m
?????目錄???????????0??2014-11-15?15:22??SFMedu2\denseMatch\
?????文件???????15364??2014-11-15?15:23??SFMedu2\denseMatch\.DS_Store
?????目錄???????????0??2014-11-15?15:23??__MACOSX\SFMedu2\denseMatch\
?????文件?????????222??2014-11-15?15:23??__MACOSX\SFMedu2\denseMatch\._.DS_Store
?????文件????????1899??2014-09-02?22:42??SFMedu2\denseMatch\denseMatch.m
?????文件?????????222??2014-09-02?22:42??__MACOSX\SFMedu2\denseMatch\._denseMatch.m
?????目錄???????????0??2014-11-15?15:22??SFMedu2\denseMatch\priority_queue_1.0\
?????文件???????15364??2014-11-15?15:22??SFMedu2\denseMatch\priority_queue_1.0\.DS_Store
?????目錄???????????0??2014-11-15?15:23??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\
?????文件?????????222??2014-11-15?15:22??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._.DS_Store
?????文件?????????104??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\CHANGES
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._CHANGES
?????文件????????1340??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\license.txt
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._license.txt
?????文件???????13658??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\MyHeap.h
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._MyHeap.h
?????文件???????13341??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\MyHeap_old.h
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._MyHeap_old.h
?????文件????????1760??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\pq_create.cpp
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._pq_create.cpp
?????文件????????1270??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\pq_create.m
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._pq_create.m
?????文件???????10444??2012-08-25?15:06??SFMedu2\denseMatch\priority_queue_1.0\pq_create.mexa64
?????文件?????????222??2012-08-25?15:06??__MACOSX\SFMedu2\denseMatch\priority_queue_1.0\._pq_create.mexa64
............此處省略3932個文件信息