#include?
#include?
#include?“ceres/ceres.h“

#include?“SnavelyReprojectionerror.h“
#include?“common/BALProblem.h“
#include?“common/BundleParams.h“


using?namespace?ceres;

void?SetLinearSolver（ceres::Solver::Options*?options?const?BundleParams&?params）
{
????CHECK（ceres::StringToLinearSolverType（params.linear_solver?&options->linear_solver_type））;
????CHECK（ceres::StringToSparseLinearAlgebraLibraryType（params.sparse_linear_algebra_library?&options->sparse_linear_algebra_library_type））;
????CHECK（ceres::StringToDenseLinearAlgebraLibraryType（params.dense_linear_algebra_library?&options->dense_linear_algebra_library_type））;
????options->num_linear_solver_threads?=?params.num_threads;

}


void?SetOrdering（BALProblem*?bal_problem?ceres::Solver::Options*?options?const?BundleParams&?params）
{
????const?int?num_points?=?bal_problem->num_points（）;
????const?int?point_block_size?=?bal_problem->point_block_size（）;
????double*?points?=?bal_problem->mutable_points（）;

????const?int?num_cameras?=?bal_problem->num_cameras（）;
????const?int?camera_block_size?=?bal_problem->camera_block_size（）;
????double*?cameras?=?bal_problem->mutable_cameras（）;


????if?（params.ordering?==?“automatic“）
????????return;

????ceres::ParameterBlockOrdering*?ordering?=?new?ceres::ParameterBlockOrdering;

????//?The?points?come?before?the?cameras
????for（int?i?=?0;?i????????ordering->AddElementToGroup（points?+?point_block_size?*?i?0）;
???????
????
????for（int?i?=?0;?i?????????ordering->AddElementToGroup（cameras?+?camera_block_size?*?i?1）;

????options->linear_solver_ordering.reset（ordering）;

}

void?SetMinimizerOptions（Solver::Options*?options?const?BundleParams&?params）{
????options->max_num_iterations?=?params.num_iterations;
????options->minimizer_progress_to_stdout?=?true;
????options->num_threads?=?params.num_threads;
????//?options->eta?=?params.eta;
????//?options->max_solver_time_in_seconds?=?params.max_solver_time;
????
????CHECK（StringToTrustRegionStrategyType（params.trust_region_strategy
????????????????????????????????????????&options->trust_region_strategy_type））;
????
}

void?SetSolverOptionsFromFlags（BALProblem*?bal_problem
???????????????????????????????const?BundleParams&?params?Solver::Options*?options）{
????SetMinimizerOptions（optionsparams）;
????SetLinearSolver（optionsparams）;
????SetOrdering（bal_problem?optionsparams）;
}

void?BuildProblem（BALProblem*?bal_problem?Problem*?problem?const?BundleParams&?params）
{
????const?int?point_block_size?=?bal_problem->point_block_size（）;
????const?int?camera_block_size?=?bal_problem->camera_block_size（）;
????double*?points?=?bal_problem->mutable_points（）;
????double*?cameras?=?bal_problem->mutable_cameras（）;

????//?Observations?is?2?*?num_observations?long?array?observations
????//?[u_1?u_2?...?u_n]?where?each?u_i?is?two?dimensional?the?x?
????//?and?y?position?of?the?observation.?
????const?double*?observations?=?bal_problem->observations（）;