54pts.txt

sparse bundle ajustment的源码

0.001762 0.000551 0.007513  3  1 579.701843 348.500000 2 532.500000 348.991760 3 553.136658 384.221954
-0.001504 0.000635 0.009650  3  1 218.500000 343.500000 2 147.500000 355.005890 3 149.500000 414.003387
0.001388 0.000482 0.007873  3  1 525.878357 339.024292 3 496.579651 378.500183 4 573.635925 405.176361
-0.000035 0.000575 0.009351  3  1 353.782196 339.421539 2 290.500000 345.500000 3 297.978058 395.565460
0.000040 0.000558 0.009210  3  1 362.500000 338.161774 2 301.500000 345.014679 3 310.123657 393.902588
0.001970 0.000421 0.007213  3  1 616.537109 335.795288 2 570.626465 335.970551 3 591.772034 368.993561
0.000077 0.000534 0.009189  5  1 366.236237 336.500000 2 304.976593 342.234161 3 314.212738 391.500000 4 383.062103 421.271545 5 476.721497 412.382721
0.001373 0.000456 0.007877  3  1 524.255798 335.500000 3 494.920532 376.500000 4 571.867798 402.408875
-0.001431 0.000541 0.009603  4  1 225.216522 335.243500 2 154.635544 345.920258 3 157.725159 403.704651 4 226.918365 439.174072
0.001976 0.000393 0.007207  3  1 617.493958 332.814240 2 571.500000 332.500000 3 592.500000 366.098236
-0.000581 0.000524 0.009852  25  1 300.500000 331.500000 2 230.693680 340.881561 3 231.253189 393.872650 4 293.137756 426.259552 5 384.126831 416.393127 6 351.032166 319.296448 7 325.764923 278.884735 8 346.423492 255.182846 9 268.812164 205.897049 10 159.310715 208.795013 11 88.877182 219.066559 12 45.407116 212.589325 13 79.128380 242.500000 14 98.581306 270.179535 15 161.546860 216.097427 16 286.380646 159.500000 17 299.993713 168.634186 18 282.489349 280.500000 19 335.188232 300.228058 20 319.888550 206.387100 21 313.119019 159.270309 22 307.500000 118.500000 23 289.884064 112.946770 24 217.107056 105.736610 25 192.869507 92.226974
0.000272 0.000459 0.008991  3  1 387.500000 329.500000 2 328.972076 336.500000 3 339.500000 383.500000
0.001332 0.000378 0.007861  3  1 520.544067 327.195923 3 491.823944 368.947906 4 569.162964 395.224640
-0.000341 0.000424 0.009536  12  1 324.227448 324.754089 2 258.760529 331.788544 3 262.992157 382.556274 4 328.927246 413.683838 5 421.803131 403.739258 6 387.989319 306.604614 7 360.230042 265.665192 8 377.820129 242.672577 9 296.222961 193.135880 10 183.225540 195.500000 11 110.854263 206.500000 12 64.096283 201.500000
-0.001129 0.000384 0.009641  10  1 252.806747 320.500000 2 183.922638 329.966675 3 185.811417 385.244843 4 252.732346 418.792389 5 347.650116 407.586670 6 307.906555 308.500000 7 277.193939 268.015198 8 295.938629 243.702057 9 215.500000 195.105042 10 103.073708 199.918732
-0.000216 0.000269 0.009345  25  1 337.474457 311.210541 2 274.332214 317.500000 3 280.363068 366.832672 4 348.433594 397.500000 5 442.435303 387.500000 6 407.960358 289.500000 7 378.500000 248.336670 8 394.329865 225.225159 9 310.130371 175.312317 10 194.431564 177.500000 11 120.578026 188.934708 12 72.533508 183.527344 13 108.002266 217.500000 14 128.633224 248.954300 15 196.402451 194.500000 16 326.990417 138.163239 17 345.048218 145.260574 18 331.494446 252.500000 19 387.466064 271.500000 20 375.396179 174.500000 21 371.067078 126.111412 22 365.300323 84.658730 23 345.012085 79.082970 24 268.376221 71.500000 25 238.467651 58.622856
-0.000259 0.000271 0.009347  6  1 333.593933 310.794037 2 270.418976 318.014557 3 276.437592 368.054108 4 344.451141 398.933167 5 438.276367 389.314392 6 403.563995 290.500000
0.001778 0.000199 0.007306  3  1 590.718628 309.819733 2 545.368347 311.236664 3 566.706360 346.262665
-0.001613 0.000172 0.009348  10  1 208.115158 301.727142 2 139.303116 311.110474 3 143.940918 368.439789 4 217.542969 403.500000 5 318.966461 391.923370 6 268.607849 289.155334 7 231.991455 248.421661 8 247.924072 223.094681 9 162.365906 175.135498 10 45.056465 181.471298
0.001797 -0.000089 0.007128  3  1 601.353394 276.503387 2 557.858521 278.697601 3 579.424683 314.131744
-0.002411 -0.000216 0.008790  5  1 126.218384 263.357117 2 56.493141 271.855072 3 65.076347 331.091766 4 151.287384 367.976379 5 265.165588 354.115265
-0.000723 -0.000425 0.009447  10  1 290.824738 246.955276 2 224.632431 252.202301 3 226.702881 302.300446 4 294.500000 332.500000 5 390.508331 321.977997 6 352.484406 220.500000 7 319.860046 178.493088 8 336.945862 156.285080 9 251.856583 107.061211 10 133.750870 110.118492
0.001785 -0.000349 0.006981  3  1 607.211243 245.690353 2 565.633850 248.821854 3 587.626526 283.887329
-0.001607 -0.000703 0.008953  4  1 208.220886 216.893448 2 143.862259 220.962463 3 151.037994 273.563660 4 230.974487 305.201843
0.001629 -0.000682 0.006944  3  1 591.000000 205.271790 2 551.500000 209.500000 3 574.000000 246.416077
0.001527 -0.000771 0.006992  3  1 576.954712 195.002197 2 537.959900 199.794022 3 560.500000 237.050507
-0.000093 -0.000965 0.008538  8  1 359.795410 189.277817 2 306.161621 193.246994 3 317.841736 238.150421 4 396.589630 266.458801 5 497.788788 256.194946 6 458.500000 148.719635 9 327.209442 27.251566 10 197.121536 28.379709
0.001201 -0.000878 0.007277  3  1 527.868713 186.068939 2 487.919495 190.500000 3 509.583466 228.730972
0.000163 -0.001070 0.008174  3  1 391.589233 174.779556 2 343.135498 178.500000 3 358.537323 221.793884
0.000267 -0.001071 0.008110  3  1 403.500000 174.113220 2 355.500000 177.014694 3 371.564331 220.500000
-0.001584 -0.001170 0.008733  5  1 210.206284 168.564835 2 148.648056 169.729767 3 157.463562 219.815781 4 241.090134 249.337494 5 349.921021 236.879410
-0.001592 -0.001261 0.008682  4  1 209.233276 159.014267 2 148.484924 159.149094 3 157.500000 208.703232 4 242.500000 237.954224
0.000944 -0.001173 0.007380  3  1 495.500000 152.500000 3 476.718262 198.500000 4 564.241699 225.695572
-0.000380 -0.001340 0.008584  6  1 330.973572 151.773010 2 276.215057 154.181976 3 286.240265 199.924438 4 365.456055 227.980499 5 467.915833 217.412140 6 425.530670 106.500000
0.000452 -0.001288 0.007804  4  1 429.736359 146.675217 2 385.855621 149.885086 3 404.035553 192.323013 4 489.659912 220.023148
0.000582 -0.001292 0.007695  3  1 446.500000 144.500000 2 403.500000 148.310120 3 422.607269 190.070801
-0.002396 -0.001336 0.008283  3  1 122.053932 142.643433 2 58.850578 140.619873 3 71.755600 192.124023
0.000550 -0.001351 0.007666  3  1 443.752472 137.744263 2 401.481323 140.998734 3 420.796021 182.690323
-0.000721 -0.001529 0.008853  6  1 295.226440 137.744736 2 235.500000 137.529022 3 241.500000 183.500000 4 318.203827 210.961411 5 420.764221 200.234573 6 376.079712 89.464622
0.000513 -0.001357 0.007663  3  1 439.916748 136.878128 3 417.500000 181.958893 4 505.414185 209.500000
-0.001518 -0.001483 0.008614  3  1 216.770233 135.848755 2 157.201248 134.394440 3 166.622269 182.943726
0.001610 -0.001264 0.006596  3  1 606.500000 128.422913 2 572.314880 135.500000 3 595.468262 172.957214
0.000964 -0.001427 0.007175  4  1 505.000000 120.319420 2 468.139130 124.500000 3 490.500000 164.948318 4 579.598511 193.455856
-0.001620 -0.001667 0.008466  5  1 206.091141 114.176109 2 147.812851 111.016914 3 158.727737 158.659775 4 247.105545 186.709991 5 359.072784 174.500000
0.001623 -0.001384 0.006513  3  1 612.571594 111.500000 2 578.995178 119.500000 3 602.622620 156.500000
0.000884 -0.001571 0.007187  3  1 495.407898 103.732010 3 480.972168 148.642975 4 571.054871 176.578873
-0.000634 -0.001835 0.008550  6  1 306.246277 101.836670 2 250.873505 100.885170 3 259.812866 145.853485 4 340.500000 172.457932 5 444.874390 161.907883 6 399.224335 47.181248
0.000910 -0.001585 0.007162  3  1 499.298767 101.500000 3 485.059845 146.500000 4 575.587646 174.916336
-0.000245 -0.001780 0.008195  5  1 349.564636 100.741447 2 300.563416 101.500000 3 313.681030 145.067047 4 398.500000 172.201920 5 503.610748 162.500000
0.000838 -0.001628 0.007202  3  1 489.700256 96.915764 3 475.188904 142.500000 4 565.693237 171.007263
0.000382 -0.001716 0.007607  4  1 427.143372 95.209152 2 386.286194 98.041016 3 405.613281 141.165680 4 494.481079 168.450592
0.000866 -0.001652 0.007168  4  1 494.071533 93.500000 2 457.693085 98.326828 3 479.981110 138.933441 4 570.372742 167.209656
-0.000623 -0.001924 0.008484  6  1 307.914490 91.594231 2 253.500000 90.361290 3 262.946442 134.801514 4 344.219299 161.500000 5 449.500000 150.919083 6 403.399689 34.710777
-0.000201 -0.001855 0.008115  5  1 355.317780 91.004211 2 307.320984 91.500000 3 321.311554 135.531662 4 406.500000 162.513672 5 512.768311 152.034546
-0.000727 -0.001965 0.008578  4  1 296.813202 89.500000 2 240.757080 87.707870 3 248.685654 132.153870 4 329.442230 157.985336
-0.000548 -0.001937 0.008411  4  1 316.186493 88.809822 2 263.167969 87.793060 3 273.371399 132.107925 4 356.038574 158.912643
-0.000337 -0.002074 0.008120  5  1 341.139923 68.167007 2 292.811768 67.583183 3 306.128632 110.578941 4 391.639008 137.500000 5 498.500000 127.427109
0.000461 -0.001928 0.007406  4  1 441.058594 67.347496 2 403.116638 69.908577 3 423.671478 111.633263 4 514.784058 139.878555
0.000564 -0.001941 0.007295  4  1 455.808136 62.500000 2 419.294037 66.211426 3 440.514648 108.072762 4 531.942322 137.500000
0.000161 -0.002029 0.007633  5  1 402.500000 61.500000 2 361.861450 62.500000 3 380.413208 104.979248 4 470.483704 133.144745 5 578.485840 123.182518
0.000880 -0.001890 0.007007  4  1 501.500000 60.729050 2 467.532593 65.861801 3 490.587036 107.500000 4 583.184753 135.654449
-0.000878 -0.002251 0.008518  3  1 282.218567 58.738220 2 226.558319 55.172222 3 234.041840 99.673027
0.000055 -0.002082 0.007724  5  1 389.130341 57.456936 2 346.790314 58.230320 3 364.614441 101.377838 4 454.421051 128.093277 5 562.630310 118.265877
-0.000299 -0.002220 0.007975  5  1 347.090820 49.074203 2 301.088715 47.690987 3 315.713257 90.786514 4 403.627563 117.739082 5 511.666901 107.500000
-0.000123 -0.002211 0.007830  5  1 368.035492 46.151848 2 324.240692 45.500000 3 340.512360 88.840157 4 429.669800 115.500000 5 538.043091 105.362511
0.000656 -0.002082 0.007119  3  1 471.643829 41.029274 3 459.743469 87.057747 4 553.161011 115.207535
0.000448 -0.002133 0.007305  3  1 442.434906 40.500000 3 427.125488 85.500000 4 520.000732 113.713043
0.000886 -0.002068 0.006904  3  1 506.000000 36.486687 2 474.123932 41.500000 3 497.032013 83.615883
-0.000671 -0.002413 0.008243  5  1 305.337341 35.292912 2 254.217560 31.741360 3 264.973602 75.500000 4 350.467590 101.317329 5 458.696716 90.486038
0.000076 -0.002280 0.007604  4  1 393.927277 32.378387 2 353.680328 32.851200 3 371.881836 75.500000 4 463.500000 102.974632
-0.000293 -0.002395 0.007887  5  1 349.015594 27.436890 2 304.070526 25.526274 3 319.367767 69.046730 4 408.685730 94.917000 5 517.660095 84.900757
0.000926 -0.002152 0.006809  3  1 514.412842 22.500000 2 483.135620 29.165657 3 507.086792 71.111717
-0.000672 -0.002543 0.008200  5  1 305.656494 20.920673 2 255.138412 16.655220 3 265.819305 59.433907 4 351.970184 84.500000 5 461.137268 73.764786
-0.000736 -0.002571 0.008225  5  1 298.792786 17.975630 2 247.745529 13.500000 3 258.065796 57.254955 4 343.840332 82.500000 5 452.431580 71.919624
-0.000512 -0.002554 0.008022  3  1 324.173462 14.044450 2 276.637878 11.204945 3 289.851837 54.108170
-0.000551 -0.002571 0.008050  5  1 319.757446 13.500000 2 271.410828 9.799427 3 284.500000 52.500000 4 371.989105 79.500000 5 481.722534 68.500000
-0.000420 -0.002561 0.007929  5  1 334.996460 10.857256 2 289.066986 7.657146 3 303.397491 50.716282 4 392.774292 76.500000 5 502.500000 66.463951
0.000631 -0.002314 0.007003  4  1 472.541412 9.162177 2 440.281555 13.149257 3 463.258331 56.411995 4 558.394287 84.637505
-0.001991 0.000963 0.009552  3  1 173.277145 374.641693 2 99.213600 390.026245 3 102.806763 454.676941
-0.002094 0.000758 0.009409  3  1 162.390411 357.040497 2 89.500000 370.594421 3 93.345871 435.311493
-0.002216 0.000386 0.009134  4  1 148.732086 322.894592 2 77.500000 335.260193 3 83.754860 397.976440 4 162.500000 437.500000
-0.002079 0.000367 0.009244  3  1 162.906097 320.500000 2 91.800171 332.192017 3 96.729942 394.210480
-0.001306 0.000274 0.009579  7  1 236.829117 310.870514 2 166.635376 319.652466 3 169.677841 375.614899 4 240.022018 410.022369 5 337.500000 398.500000 6 293.673981 297.736908 7 261.500000 258.107941
-0.000418 -0.000348 0.009215  11  1 320.500000 253.500000 2 257.