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为啥在eurocV1_01_easy上运行后面就发散了?
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可以调试这个参数试试 https://github.com/HeYijia/VINS-Course/blob/master/src/backend/problem.cc#L519
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double tau = 1e-9; // 1e-7 1e-3 原始参数是1e-5我都试过,1e-3刚开始就挂了,1e-7和1e-9在和1e-5差不多的时候挂的 这个tau是什么意思?改变他我感觉解决不了这个问题
可以调试这个参数试试 https://github.com/HeYijia/VINS-Course/blob/master/src/backend/problem.cc#L519 double tau = 1e-9; // 1e-7 1e-3 原始参数是1e-5我都试过,1e-3刚开始就挂了,1e-7和1e-9在和1e-5差不多的时候挂的 这个tau是什么意思?改变他我感觉解决不了这个问题
tao只是改变lm的步长,详细请看ceres的实现
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为啥在eurocV1_01_easy上运行后面就发散了?
![image](https://user-images.githubusercontent.com/30526360/78326133-25f72500-75ac-11ea-9649-1d9a3ff23ca4.png)
The text was updated successfully, but these errors were encountered: