代码结构
- kalibr_calibrate_cameras
- kalibr_camera_calibration
*CameraCalibrator
*CameraIntializers
*aslam_optimizer
++ aslam_backend_python
++ aslam_backend
++ Cholesky(Cholmod)
++ QR
++ Jacobian
++ TrustRegion
++ Levenberg-Marquard
++ GaussNewton
++ CSparse
++ Dogleg
++ sparse_block_matrix - aslam_cv
实现流程
- 定义图的顶点和边
- 创建一个线性求解器LinearSolver
- 创建BlockSolver
- 创建总求解器solver
- 创建稀疏优化器
- 设置优化参数,开始执行优化