7camsvark.txt

sparse bundle ajustment的源码

# fu, u0, v0, ar, s   quaternion translation
851.57945 330.24755 262.19500 1.00169 0.0  1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000
851.57945 330.24755 262.19500 1.00169 0.0  0.999739 0.000005 -0.008636 -0.021136 0.001269 0.000208 0.000099
851.57945 330.24755 262.19500 1.00169 0.0  0.997184 0.002234 -0.051503 -0.054470 0.002923 0.000172 0.000044
851.57945 330.24755 262.19500 1.00169 0.0  0.993758 -0.000684 -0.083234 -0.074272 0.004902 0.000130 0.000085
851.57945 330.24755 262.19500 1.00169 0.0  0.990720 -0.009052 -0.113228 -0.074637 0.006588 -0.000047 0.000229
851.57945 330.24755 262.19500 1.00169 0.0  0.987481 -0.009521 -0.144619 -0.062251 0.008776 -0.000225 0.000534
851.57945 330.24755 262.19500 1.00169 0.0  0.983731 -0.008923 -0.164780 -0.071003 0.011102 -0.000145 0.000869