http://blog.csdn.net/roadseek_zw/article/details/66968762
http://blog.csdn.net/learnmoreonce/article/category/6989560
http://ceres-solver.org/
https://github.com/ceres-solver/ceres-solver
http://blog.csdn.net/roadseek_zw/article/details/66968762
http://blog.csdn.net/learnmoreonce/article/category/6989560
http://ceres-solver.org/
https://github.com/ceres-solver/ceres-solver