g2ocustombundle

BALProblem https://blog.csdn.net/qq_40213457/article/details/80678865
g2o_bal_class.h https://blog.csdn.net/qq_40213457/article/details/80675125
g2o_bundle.cpp https://blog.csdn.net/qq_40213457/article/details/80693432
projection.h和bundleParams.h https://blog.csdn.net/qq_40213457/article/details/80691908
rotation.h https://blog.csdn.net/qq_40213457/article/details/81053466
random.h https://blog.csdn.net/qq_40213457/article/details/81053725