记录ceres的一个变化

ceres想要固定一个参数块和想要固定参数块中的一部分参数的调用方法

void addExtrinsicsToProblem(const sfmData::SfMData& sfmData,
                                                   BundleAdjustment::ERefineOptions refineOptions,
                                                   ceres::Problem& problem)
{
    const bool refineTranslation = refineOptions & BundleAdjustment::REFINE_TRANSLATION;
    const bool refineRotation = refineOptions & BundleAdjustment::REFINE_ROTATION;

    const auto addPose = [&](const sfmData::CameraPose& cameraPose, bool isConstant, std::array<double, 6>& poseBlock) {
        const Mat3& R = cameraPose.getTransform().rotation();
        const Vec3& t = cameraPose.getTransform().translation();

        double angleAxis[3];
        ceres::RotationMatrixToAngleAxis(static_cast<const double*>(R.data()), angleAxis);
        poseBlock.at(0) = angleAxis[0];
        poseBlock.at(1) = angleAxis[1];
        poseBlock.at(2) = angleAxis[2];
        poseBlock.at(3) = t(0);
        poseBlock.at(4) = t(1);
        poseBlock.at(5) = t(2);

        double* poseBlockPtr = poseBlock.data();
        problem.AddParameterBlock(poseBlockPtr, 6);

        // add pose parameter to the all parameters blocks pointers list
        _allParametersBlocks.push_back(poseBlockPtr);

        // keep the camera extrinsics constants
        if (cameraPose.isLocked() || isConstant || (!refineTranslation && !refineRotation))
        {
            // set the whole parameter block as constant.
            _statistics.addState(EParameter::POSE, EEstimatorParameterState::CONSTANT);
            problem.SetParameterBlockConstant(poseBlockPtr);
            return;
        }

        // constant parameters
        std::vector<int> constantExtrinsic;

        // don't refine rotations
        if (!refineRotation)
        {
            constantExtrinsic.push_back(0);
            constantExtrinsic.push_back(1);
            constantExtrinsic.push_back(2);
        }

        // don't refine translations
        if (!refineTranslation)
        {
            constantExtrinsic.push_back(3);
            constantExtrinsic.push_back(4);
            constantExtrinsic.push_back(5);
        }

        // subset parametrization
        if (!constantExtrinsic.empty())
        {
            auto* subsetManifold = new ceres::SubsetManifold(6, constantExtrinsic);
            problem.SetManifold(poseBlockPtr, subsetManifold);
        }

        _statistics.addState(EParameter::POSE, EEstimatorParameterState::REFINED);
    };