BA_Eigen Nan!

[ionAiex]

Thank you very much for your work, it helped me a lot, but BA_eigen ran out of ‘nan’ with your data

[ionAiex]

I am using vs, and there is no problem switching to release mode, why is there such a difference, as a beginner, if you can share a little experience, I will be very grateful!

[ionAiex]

Also, I have a lot of doubts about the input and output of BA. Can your code only calibrate one camera at a time, meaning one camera is shooting at different locations? Because there is only one set of internal parameters and poses, even if there are multiple poses, there is only one set of 2d points. How to understand this? if you want to BA two different cameras at the same time, although you can push more poses into it, does this mean that you need to modify the code, and the internal parameters should also be based on the two cameras. To initialize, how to solve it at this time?
还有，我对BA的输入输出有很多疑惑。 您的代码一次只能校准一台相机吗，这意味着一台相机在不同的位置拍摄吗？ 因为只有一组内参和位姿，即使有多个位姿，2d点也只有一组，这如何理解呢？如果你想同时BA两个不同的相机，虽然你可以往里面推更多位姿，但这是否意味着你需要修改代码，内参应该 要基于两个摄像头初始化，这个时候怎么求解呢？