#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（）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????????80??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\.gitignore

?????文件???14605482??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\3rdparty\ceres-solver.tar.gz

?????文件????1243868??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\3rdparty\DBow3.tar.gz

?????文件????8342066??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\3rdparty\g2o.tar.gz

?????文件????3527776??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\3rdparty\Pangolin.tar.gz

?????文件?????281794??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\3rdparty\Sophus.tar.gz

?????文件?????????23??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\.gitignore

?????文件???????5935??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\ceresBundle.cpp

?????文件????????770??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\CMakeLists.txt

?????文件???????8880??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\BALProblem.cpp

?????文件???????3003??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\BALProblem.h

?????文件???????2516??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\BundleParams.h

?????文件??????13387??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\flags\command_args.cpp

?????文件???????3170??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\flags\command_args.h

?????文件???????1086??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\projection.h

?????文件????????448??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\tools\random.h

?????文件???????5451??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\common\tools\rotation.h

?????文件????4783974??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\data\problem-16-22106-pre.txt

?????文件????????211??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\Readme.md

?????文件???????1121??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\ceres_custombundle\SnavelyReprojectionerror.h

?????文件?????????23??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\.gitignore

?????文件??????12222??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\autodiff.h

?????文件???????3491??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\eigen.h

?????文件???????6977??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\fixed_array.h

?????文件???????3334??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\fpclassify.h

?????文件??????24025??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\jet.h

?????文件???????1580??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\LICENSE

?????文件???????7447??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\macros.h

?????文件???????8050??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\manual_constructor.h

?????文件???????6640??2017-12-10?20:58??slambook-master（14講對應代碼）\slambook-master\ch10\g2o_custombundle\ceres\variadic_evaluate.h

............此處省略316個文件信息