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Yes, it looks like an uninitialized problem. The data used in whole optimization process is the EuRoC dataset (V1_02) and it runs successfully in the first optimization process. In the...

Ok, I got this: ===== ```c++ Solver Summary (v 1.14.0-eigen-(3.3.4)-lapack-suitesparse-(5.1.2)-cxsparse-(3.1.9)-eigensparse-openmp-no_tbb) Original Reduced Parameter blocks 9076 9076 Parameters 10120 10120 Effective parameters 9946 9946 Residual blocks 35757 35757 Residuals 71514 71514...

Problem solved. It does cause by jacobian. Here is the solution. Before we put the jacobian into ceres, we should add a column with zero in jacobian. For example, assume...

There is still contain an unknown problem, I even can't know which part is wrong. Would you mind explaining how ceres deal Hx=b for me? We know H = J...

I add an inference code, but looks not correct. Here is a input and output for my code.   The inference code is based on gen_img_uncond.py, I followed the...

@LTH14 would you mind send me a inference code? my email is: [email protected]. Thank you very much.