ceres_pnp_archive.tar.gz
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简介：
Ceres_PNP_Archive.tar.gz 是一个包含Ceres Solver库中PNP（Perspective-n-Point）相关代码和资源的归档文件，适用于相机姿态估计研究与应用。
Sophus 和 Ceres 在 SE3 位姿优化中的实践结果如下：
| iter | cost | cost_change | gradient_norm | step_size | tr_ratio | tr_radius |
|------|--------|-------------|---------------|-----------|----------|-----------|
| 0 | 6.971e+01 | 0 | 2.29e+01 | 0 | - |
|| ls_iter || iter_time || total_time ||
|| 0 || 7.45e-05 || 2.28e-04||
| 1 | 5.852e+01 | 1.12e+01 | 8.91e+00 | 1.03e+01 | - |
|| ls_iter || iter_time || total_time ||
|| 3.00e+04 || 1.41e-04 || 4.02e-04||
| 2 | 2.765e+01 | 3.09e+01 | 2.00e+01 | 2.52e+0 - |
|| ls_iter || iter_time || total_time ||
|| 9.00e+04 || 7.64e-05 || 4.94e-04||
| 3 | 7.835e-02 | 2.76e+01 | 1.37e+1 | 2.36e-01 - |
|| ls_iter || iter_time || total_time ||
|| 2.70e+05 || 7.05e-05 || 5.76e-04||
| 4 | 4.141e-02 | 3.69e-02 | 1.03e+1 | 2.52e-03 - |
|| ls_iter || iter_time || total_time ||
|| 8.10e+05 || 6.93e-05 || 6.57e-04||
| 5 | 4.119e-02 | 2.17e-04 | 1.67e+1 | 2.11e-04 - |
|| ls_iter || iter_time || total_time ||
|| 2.43e+06 || 6.94e-05 || 7.40e-04||
| 6 | 4.119e-02 | 1.00e-06 | 1.63 | 1.41e-05 - |
|| ls_iter || iter_time || total_time ||
||7.29e+06 || 6.83e-05 || 8.18e-04||
| 7 | 4.119e-02 | 4.19e-09 | .106 | 9.14e-07 - |
|| ls_iter || iter_time || total_time ||
||2.19e+07 || 6.74e-05 || 8.94e-04||
| Ceres Solver Report: Iterations: 8, Initial cost: 6.971092e+01, Final cost: 4.118983e-02, Termination: CONVERGENCE|
优化后的位姿参数为：
\[ \begin{bmatrix}
0.925421 & -0.287927 & 0.246363 \\
-0.722 & 0.336739 & 0.92301 \\
-0.18617 & 9.15989 & -0.173792 \\
0.255245 & 9.10729 & 0
\end{bmatrix} \]
误差分析如下：
\[ err\_opt: [0.00386, -0.00194, 0.00258, -0.0021, -0.398e-3, -1.196e-4, 1.17e-4] \]
真实值为：
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