Sophus + ceres 对SE3的位姿优化实践,PnP
iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time
0 6.971092e+01 0.00e+00 2.29e+01 0.00e+00 0.00e+00 1.00e+04 0 7.45e-05 2.28e-04
1 5.852248e+01 1.12e+01 8.91e+00 1.03e+0
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