//?Ceres?Solver?-?A?fast?non-linear?least?squares?minimizer
//?Copyright?2015?Google?Inc.?All?rights?reserved.
//?http://ceres-solver.org/
//
//?Redistribution?and?use?in?source?and?binary?forms?with?or?without
//?modification?are?permitted?provided?that?the?following?conditions?are?met:
//
//?*?Redistributions?of?source?code?must?retain?the?above?copyright?notice
//???this?list?of?conditions?and?the?following?disclaimer.
//?*?Redistributions?in?binary?form?must?reproduce?the?above?copyright?notice
//???this?list?of?conditions?and?the?following?disclaimer?in?the?documentation
//???and/or?other?materials?provided?with?the?distribution.
//?*?Neither?the?name?of?Google?Inc.?nor?the?names?of?its?contributors?may?be
//???used?to?endorse?or?promote?products?derived?from?this?software?without
//???specific?prior?written?permission.
//
//?THIS?SOFTWARE?IS?PROVIDED?BY?THE?COPYRIGHT?HOLDERS?AND?CONTRIBUTORS?“AS?IS“
//?AND?ANY?EXPRESS?OR?IMPLIED?WARRANTIES?INCLUDING?BUT?NOT?LIMITED?TO?THE
//?IMPLIED?WARRANTIES?OF?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE
//?ARE?DISCLAIMED.?IN?NO?EVENT?SHALL?THE?COPYRIGHT?OWNER?OR?CONTRIBUTORS?BE
//?LIABLE?FOR?ANY?DIRECT?INDIRECT?INCIDENTAL?SPECIAL?EXEMPLARY?OR
//?CONSEQUENTIAL?DAMAGES?（INCLUDING?BUT?NOT?LIMITED?TO?PROCUREMENT?OF
//?SUBSTITUTE?GOODS?OR?SERVICES;?LOSS?OF?USE?DATA?OR?PROFITS;?OR?BUSINESS
//?INTERRUPTION）?HOWEVER?CAUSED?AND?ON?ANY?THEORY?OF?LIABILITY?WHETHER?IN
//?CONTRACT?STRICT?LIABILITY?OR?TORT?（INCLUDING?NEGLIGENCE?OR?OTHERWISE）
//?ARISING?IN?ANY?WAY?OUT?OF?THE?USE?OF?THIS?SOFTWARE?EVEN?IF?ADVISED?OF?THE
//?POSSIBILITY?OF?SUCH?DAMAGE.
//
//?Author:?sameeragarwal@google.com?（Sameer?Agarwal）
#include?“bal_problem.h“
#include?
#include?
#include?
#include?
#include?
#include?“Eigen/Core“
#include?“ceres/rotation.h“
#include?“glog/logging.h“
#include?“random.h“
namespace?ceres?{
namespace?examples?{
namespace?{
typedef?Eigen::Map?VectorRef;
typedef?Eigen::Map?ConstVectorRef;
template
void?FscanfOrDie（FILE*?fptr?const?char*?format?T*?value）?{
??int?num_scanned?=?fscanf（fptr?format?value）;
??if?（num_scanned?!=?1）?{
????LOG（FATAL）?<??}
}
void?PerturbPoint3（const?double?sigma?double*?point）?{
??for?（int?i?=?0;?i?????point[i]?+=?RandNormal（）?*?sigma;
??}
}
double?Median（std::vector*?data）?{
??int?n?=?data->size（）;
??std::vector::iterator?mid_point?=?data->begin（）?+?n?/?2;
??std::nth_element（data->begin（）?mid_point?data->end（））;
??return?*mid_point;
}
}??//?namespace
BALProblem::BALProblem（const?std::string&?filename?bool?use_quaternions）?{
??FILE*?fptr?=?fopen（filename.c_str（）?“r“）;
??if?（fptr?==?NULL）?{
????LOG（FATAL）?<????return;
??};
??//?This?wil?die?horribly?on?invalid?files.?Them‘s?the?breaks.
??FscanfOrDie（fptr?“%d“?&num_cameras_）;
??FscanfOrDie（fptr?“%d“?&num_points_）;
??Fsc

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-01-21?20:01??cameraCalibration\
?????目錄???????????0??2019-01-21?20:01??cameraCalibration\bin\
?????文件???????78756??2019-01-09?14:58??cameraCalibration\bin\10_d.jpg
?????文件???????72077??2019-01-09?14:58??cameraCalibration\bin\11_d.jpg
?????文件???????79549??2019-01-09?14:58??cameraCalibration\bin\12_d.jpg
?????文件???????79197??2019-01-09?14:58??cameraCalibration\bin\13_d.jpg
?????文件???????79147??2019-01-09?14:58??cameraCalibration\bin\1_d.jpg
?????文件???????81192??2019-01-09?14:58??cameraCalibration\bin\2_d.jpg
?????文件???????82674??2019-01-09?14:58??cameraCalibration\bin\3_d.jpg
?????文件???????71511??2019-01-09?14:58??cameraCalibration\bin\4_d.jpg
?????文件???????80449??2019-01-09?14:58??cameraCalibration\bin\5_d.jpg
?????文件???????80894??2019-01-09?14:58??cameraCalibration\bin\6_d.jpg
?????文件???????84393??2019-01-09?14:58??cameraCalibration\bin\7_d.jpg
?????文件???????81200??2019-01-09?14:58??cameraCalibration\bin\8_d.jpg
?????文件???????78034??2019-01-09?14:58??cameraCalibration\bin\9_d.jpg
?????文件???????11063??2019-01-06?07:32??cameraCalibration\bin\a.cpp
?????文件?????6029096??2019-01-09?14:58??cameraCalibration\bin\calibration
?????文件?????????598??2018-11-12?11:44??cameraCalibration\bin\calibration.txt
?????文件????????4711??2019-01-09?14:58??cameraCalibration\bin\calibration_result.txt
?????目錄???????????0??2019-01-21?20:01??cameraCalibration\build\
?????文件???????13308??2019-01-06?08:56??cameraCalibration\build\CMakeCache.txt
?????目錄???????????0??2019-01-21?20:01??cameraCalibration\build\CMakeFiles\
?????目錄???????????0??2019-01-21?20:01??cameraCalibration\build\CMakeFiles\3.5.1\
?????文件????????2002??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CMakeCCompiler.cmake
?????文件????????4556??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CMakeCXXCompiler.cmake
?????文件????????8640??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CMakeDetermineCompilerABI_C.bin
?????文件????????8656??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CMakeDetermineCompilerABI_CXX.bin
?????文件?????????402??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CMakeSystem.cmake
?????目錄???????????0??2019-01-21?20:01??cameraCalibration\build\CMakeFiles\3.5.1\CompilerIdC\
?????文件????????8800??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CompilerIdC\a.out
?????文件???????16423??2019-01-06?08:56??cameraCalibration\build\CMakeFiles\3.5.1\CompilerIdC\CMakeCCompilerId.c
............此處省略56個文件信息