算法解析
void Optimizer::GlobalBundleAdjustemnt()
void Optimizer::BundleAdjustment()
int Optimizer::PoseOptimization()
void Optimizer::LocalBundleAdjustment()
void Opt
void Optimizer::GlobalBundleAdjustemnt()
void Optimizer::BundleAdjustment()
int Optimizer::PoseOptimization()
void Optimizer::LocalBundleAdjustment()
void Opt