There is a bug

[Bing1002]

Hi @royshil

I think there is a bug in your code BundleAdjuster.cpp. I give you a snapshot in following. I think Pmats[i] isn't the representation of camera matrix. For example if the initiate image pair are 1 and 6, but the Pmats[i] can be 0 and 1. So I think this is a obvious bug. Can you have a look at it. Thank you.