阅读教材2第18章、 附录6、schoenberger_thesis的7 Structure-from-Motion Revisited
https://www.bilibili.com/video/BV1p24y1c7MH?spm_id_from=333.788.videopod.episodes&vd_source=d21f89893c9e3093d77e243b2e781f93&p=27
手写Bundle Adjustment对三维重建/SLAM研究的作用
https://blog.csdn.net/qq_15698613/article/details/102928884
https://classroom.github.com/a/rQ6QqF65
