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507 Suppose that the SfM problem consists of :math:`p` cameras and
556 cameras. :math:`S \in \mathbb{R}^{pc\times pc}` is a block structured
570 problems, the number of cameras is much smaller than the number of
582 is only practical for problems with up to a few hundred cameras. Ceres
655 problem is a domain, and the cameras form the interface between these
782 all the 3d points, and the second containing the all the cameras