tree f7f08e74b789061e5c5fa907f0c15413cab19baa
parent 214561083b6af79dd36e975fcbfc534b9e5e1356
author Sameer Agarwal <sameeragarwal@google.com> 1344653529 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1344867434 -0700

Add the ability to normalize BALProblem.

Refactor some of the perturbation code so that the
normalization and perturbation code can share the
camera decomposition code.

Change-Id: I084064976804a92f9240d8f5e10d1bb23dcb5ff2