heguixiang
running error
在手机上运行MH_01_easy数据集的时候出现fabs(jacobian_speedbias_i.maxCoeff())<1e8的问题，请问在您跑的时候有遇到麽？按理现在已经在正常跑算法了，还是说是手机性能的问题，我用的Google pixel 11-21 11:30:45.995 2126-8842/? I/MicroRecognitionRunner: Detection finished 11-21 11:30:46.247 8933-8933/? D/openclTest: OpenCL is not availble 11-21 11:30:46.247 8933-8933/? D/openclTest: don't use OpenCL 11-21 11:30:46.247 8933-8933/? D/openclTest: Failed creating the context... 11-21 11:30:46.247 8933-8933/? D/openclTest: Here is the matrix m: 3.000000, -1.000000, 2.500000, 1.500000 11-21 11:30:46.247 8933-8933/? D/openclTest: Here is the vector v: 4.000000, 3.000000 11-21 11:30:46.248 8933-8933/? V/native: wall_time.cc:74
DenseQRSolver::Solve
Delta Cumulative
Setup : 0.00002 0.00002
Solve : 0.00003 0.00005
TearDown : 0.00001 0.00005
Total : 0.00000 0.00006
11-21 11:30:46.248 8933-8933/? V/native: wall_time.cc:74
DenseQRSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Solve : 0.00001 0.00002
TearDown : 0.00001 0.00002
Total : 0.00000 0.00002
11-21 11:30:46.248 8933-8933/? V/native: wall_time.cc:74
DenseQRSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Solve : 0.00001 0.00001
TearDown : 0.00000 0.00002
Total : 0.00000 0.00002
11-21 11:30:46.248 8933-8933/? D/native: trust_region_minimizer.cc:683 Terminating: Parameter tolerance reached. Relative step_norm: 1.666426e-09 <= 1.000000e-08. 11-21 11:30:46.248 8933-8933/? D/openclTest: X: 5.000000 -> 10.000000 11-21 11:30:46.248 8933-8933/? D/openclTest: A: 123 11-21 11:30:46.248 8933-8933/? D/openclTest: B: 123.120000 11-21 11:30:46.248 8933-8933/? D/openclTest: filesystem test pass 11-21 11:30:46.248 8933-8933/? D/openclTest: TEST LOG 11-21 11:30:46.252 8933-8933/? D/vins_parameter: ACC_N:0.200000 , ACC_W:0.000200 ,GYR_N:0.020000 , GYR_W:0.000020 , G.z():9.810070 11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 0.000000 -1.000000 0.000000 11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 1.000000 0.000000 0.000000 11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_R : 0.000000 0.000000 1.000000 11-21 11:30:46.252 8933-8933/? D/vins_parameter: Extrinsic_T : -0.020000 -0.060000 0.010000 11-21 11:30:46.252 8933-8933/? D/vins_parameter: VOC_FILE: /support_files/brief_k10L6.bin 11-21 11:30:46.253 8933-8933/? D/vins_parameter: PATTERN_FILE: /support_files/brief_pattern.yml 11-21 11:30:46.431 8933-8951/? D/estimator: this frame is--------------------accept 11-21 11:30:46.431 8933-8951/? D/estimator: number of feature: 0 11-21 11:30:46.432 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:46.566 8933-8951/? D/estimator: this frame is--------------------accept 11-21 11:30:46.566 8933-8951/? D/estimator: number of feature: 128 11-21 11:30:46.567 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:46.657 1583-1583/? I/WallpaperService: engine paused 11-21 11:30:46.675 8933-8951/? D/estimator: this frame is--------------------accept 11-21 11:30:46.675 8933-8951/? D/estimator: number of feature: 135 11-21 11:30:46.675 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:46.773 8933-8951/? D/estimator: this frame is--------------------accept 11-21 11:30:46.773 8933-8951/? D/estimator: number of feature: 154 11-21 11:30:46.774 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:46.883 8933-8951/? D/estimator: this frame is--------------------accept 11-21 11:30:46.883 8933-8951/? D/estimator: number of feature: 174 11-21 11:30:46.883 8933-8951/? D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:46.987 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept 11-21 11:30:46.987 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 179 11-21 11:30:46.988 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:47.098 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept 11-21 11:30:47.098 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 195 11-21 11:30:47.099 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:47.209 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept 11-21 11:30:47.210 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 238 11-21 11:30:47.210 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:47.316 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept 11-21 11:30:47.316 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 246 11-21 11:30:47.317 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:47.412 1094-1376/? I/InputDispatcher: Dropping event because there is no touchable window at (334, 2008). 11-21 11:30:47.425 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept 11-21 11:30:47.426 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 246 11-21 11:30:47.426 8933-8951/com.hezhaoxin.solomon.vins_android D/openclTest: POSTION: 0.000000, 0.000000, 0.000000 11-21 11:30:47.536 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: this frame is--------------------accept 11-21 11:30:47.536 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: number of feature: 246 11-21 11:30:47.536 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: ===========before result = initialStructure=============== 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: average_parallax 91.502605 choose l 0 and newest frame to triangulate the whole structure.corres.size:37 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : 0.999698 0.017493 0.017259 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : -0.018803 0.996706 0.078888 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_R : -0.015822 -0.079189 0.996734 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: relative_T : -0.114554 0.972684 0.201898 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: L: 0 11-21 11:30:47.555 8933-8951/com.hezhaoxin.solomon.vins_android D/initial_sfm: init q_l : 1.000000, q[0].vec().transpose(): 0.000000, 0.000000, 0.000000 11-21 11:30:47.651 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
ComputeStableSchurOrdering
Delta Cumulative
CreateHessianGraph : 0.00296 0.00296
Preordering : 0.00007 0.00303
StableIndependentSet : 0.00070 0.00373
ConstantParameterBlocks : 0.00001 0.00374
Total : 0.00071 0.00445
11-21 11:30:47.652 8933-8951/com.hezhaoxin.solomon.vins_android V/native: block_sparse_matrix.cc:80 Allocating values array with 173712 bytes. 11-21 11:30:48.095 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 1.220022e-02 0.00e+00 1.63e-01 0.00e+00 0.00e+00 1.00e+04 0 4.42e-01 4.48e-01 11-21 11:30:48.095 8933-8951/com.hezhaoxin.solomon.vins_android D/native: detect_structure.cc:113 Schur complement static structure <2,3,3>. 11-21 11:30:48.102 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00065 0.00065
Eliminate : 0.00229 0.00294
ReducedSolve : 0.00430 0.00724
BackSubstitute : 0.00015 0.00739
Total : 0.00001 0.00740
11-21 11:30:48.103 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 1 1.120671e-01 -9.99e-02 0.00e+00 5.44e+01 -9.50e+00 5.00e+03 1 8.12e-03 4.57e-01 11-21 11:30:48.110 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Eliminate : 0.00233 0.00234
ReducedSolve : 0.00434 0.00669
BackSubstitute : 0.00015 0.00683
Total : 0.00000 0.00684
11-21 11:30:48.549 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 2 9.936141e-03 2.26e-03 2.28e-01 4.17e+01 2.20e-01 4.25e+03 1 4.46e-01 9.03e-01 11-21 11:30:48.556 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Eliminate : 0.00234 0.00234
ReducedSolve : 0.00415 0.00649
BackSubstitute : 0.00020 0.00670
Total : 0.00001 0.00670
11-21 11:30:48.678 1094-1411/? D/ConnectivityService: NetworkAgentInfo [WIFI () - 101] validation failed 11-21 11:30:48.678 1094-1407/? D/WifiStateMachine: NETWORK_STATUS_UNWANTED_VALIDATION_FAILED 11-21 11:30:48.680 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-2.4G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:null link:0 status:0 nid:4 hasEverConnected: true 11-21 11:30:48.680 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-2.4G"WPA_PSK 11-21 11:30:48.680 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-5G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:"4DAGE-2.4G"WPA_PSK link:0 status:1 nid:1 hasEverConnected: false 11-21 11:30:48.680 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-5G"WPA_PSK 11-21 11:30:48.680 1094-8959/? D/WifiNetworkHistory: saving network history: "THETAXS01100692.OSC"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:null link:0 status:1 nid:0 hasEverConnected: true 11-21 11:30:48.680 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "THETAXS01100692.OSC"WPA_PSK 11-21 11:30:48.681 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-W1-5G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:"4DAGE-2.4G"WPA_PSK link:0 status:1 nid:3 hasEverConnected: false 11-21 11:30:48.681 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-W1-5G"WPA_PSK 11-21 11:30:48.683 1094-8959/? D/WifiNetworkHistory: saving network history: "4DAGE-W2-5G"WPA_PSK gw: null Network Selection-status: NETWORK_SELECTION_ENABLED ephemeral=false choice:"4DAGE-W1-5G"WPA_PSK link:0 status:1 nid:2 hasEverConnected: false 11-21 11:30:48.683 1094-8959/? V/WifiNetworkHistory: writeKnownNetworkHistory write config "4DAGE-W2-5G"WPA_PSK 11-21 11:30:48.996 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 3 2.003501e-03 7.93e-03 4.22e-02 5.89e+00 9.42e-01 1.28e+04 1 4.46e-01 1.35e+00 11-21 11:30:49.003 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00002 0.00002
Eliminate : 0.00238 0.00239
ReducedSolve : 0.00423 0.00662
BackSubstitute : 0.00024 0.00686
Total : 0.00001 0.00687
11-21 11:30:49.442 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 4 1.508340e-03 4.95e-04 5.78e-03 4.76e+00 9.85e-01 3.83e+04 1 4.47e-01 1.80e+00 11-21 11:30:49.449 8933-8951/com.hezhaoxin.solomon.vins_android V/native: wall_time.cc:74
SchurComplementSolver::Solve
Delta Cumulative
Setup : 0.00001 0.00001
Eliminate : 0.00233 0.00233
ReducedSolve : 0.00417 0.00650
BackSubstitute : 0.00015 0.00665
Total : 0.00000 0.00665
11-21 11:30:49.889 8933-8951/com.hezhaoxin.solomon.vins_android D/native: callbacks.cc:105 5 1.496080e-03 1.23e-05 1.71e-03 8.05e+00 9.93e-01 1.15e+05 1 4.47e-01 2.24e+00 11-21 11:30:49.890 8933-8951/com.hezhaoxin.solomon.vins_android D/native: trust_region_minimizer.cc:609 Terminating: Maximum solver time reached. Total solver time: 2.243225e+00 >= 2.000000e+00. 11-21 11:30:49.890 8933-8951/com.hezhaoxin.solomon.vins_android D/initial_sfm: summary.BriefReport() : Ceres Solver Report: Iterations: 6, Initial cost: 1.220022e-02, Final cost: 1.496080e-03, Termination: NO_CONVERGENCE 11-21 11:30:49.895 8933-8951/com.hezhaoxin.solomon.vins_android D/initial_alignment: --------------gyroscope bias initial calibration------------------: nan, nan, 0.000000 11-21 11:30:50.358 8933-8951/com.hezhaoxin.solomon.vins_android D/estimator: ================= after result = initialStructure============== 11-21 11:30:50.685 8933-8951/com.hezhaoxin.solomon.vins_android A/libc: /home/dorothy/Android-VINS-master/Android-VINS-master/app/src/main/cpp/src/vins_estimator/src/initial/../factor/imu_factor.h:142: virtual bool IMUFactor::Evaluate(const double *const *, double *, double **) const: assertion "fabs(jacobian_speedbias_i.maxCoeff()) < 1e8" failed 11-21 11:30:50.685 8933-8951/com.hezhaoxin.solomon.vins_android A/libc: Fatal signal 6 (SIGABRT), code -6 in tid 8951 (on.vins_android)
[ 11-21 11:30:50.686 535: 535 W/ ]
debuggerd: handling request: pid=8933 uid=10158 gid=10158 tid=8951
11-21 11:30:50.753 8960-8960/? A/DEBUG: *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** *** 11-21 11:30:50.753 8960-8960/? A/DEBUG: Build fingerprint: 'google/marlin/marlin:7.1.1/NOF26V/3636322:user/release-keys' 11-21 11:30:50.753 8960-8960/? A/DEBUG: Revision: '0' 11-21 11:30:50.753 8960-8960/? A/DEBUG: ABI: 'arm' 11-21 11:30:50.753 8960-8960/? A/DEBUG: pid: 8933, tid: 8951, name: on.vins_android >>> com.hezhaoxin.solomon.vins_android <<< 11-21 11:30:50.753 8960-8960/? A/DEBUG: signal 6 (SIGABRT), code -6 (SI_TKILL), fault addr -------- 11-21 11:30:50.754 8960-8960/? A/DEBUG: Abort message: '/home/dorothy/Android-VINS-master/Android-VINS-master/app/src/main/cpp/src/vins_estimator/src/initial/../factor/imu_factor.h:142: virtual bool IMUFactor::Evaluate(const double *const *, double *, double **) const: assertion "fabs(jacobian_speedbias_i.maxCoeff()) < 1e8" failed' 11-21 11:30:50.754 8960-8960/? A/DEBUG: r0 00000000 r1 000022f7 r2 00000006 r3 00000008 11-21 11:30:50.754 8960-8960/? A/DEBUG: r4 ce328978 r5 00000006 r6 ce328920 r7 0000010c 11-21 11:30:50.754 8960-8960/? A/DEBUG: r8 ce3271f0 r9 ce327208 sl ce327240 fp 00000000 11-21 11:30:50.754 8960-8960/? A/DEBUG: ip 00000000 sp ce324ed8 lr e8b2e5c7 pc e8b30e30 cpsr 600f0010 11-21 11:30:50.763 8960-8960/? A/DEBUG: backtrace: 11-21 11:30:50.763 8960-8960/? A/DEBUG: #00 pc 00049e30 /system/lib/libc.so (tgkill+12) 11-21 11:30:50.763 8960-8960/? A/DEBUG: #01 pc 000475c3 /system/lib/libc.so (pthread_kill+34) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #02 pc 0001d635 /system/lib/libc.so (raise+10) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #03 pc 00019181 /system/lib/libc.so (__libc_android_abort+34) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #04 pc 00017048 /system/lib/libc.so (abort+4) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #05 pc 0001b633 /system/lib/libc.so (__libc_fatal+22) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #06 pc 0001937b /system/lib/libc.so (__assert2+18) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #07 pc 00e79e4f /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (ZNK9IMUFactor8EvaluateEPKPKdPdPS4+2510) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #08 pc 00f3ddab /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN17ResidualBlockInfo8EvaluateEv+326) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #09 pc 00f3e709 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN19MarginalizationInfo14preMarginalizeEv+76) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #10 pc 00e4d687 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN9Estimator12optimizationEv+4518) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #11 pc 00e48f67 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN9Estimator13solveOdometryEv+82) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #12 pc 00e478af /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZN9Estimator12processImageERKSt3mapIiSt6vectorISt4pairIiN5Eigen6MatrixIdLi3ELi1ELi0ELi3ELi1EEEESaIS6_EESt4lessIiESaIS2_IKiS8_EEERKN8std_msgs7Header_ISaIvEEE+894) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #13 pc 00e176b7 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_Z7processv+722) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #14 pc 00e41bbb /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZNSt12_Bind_simpleIFPFvvEvEE9_M_invokeIJEEEvSt12_Index_tupleIJXspT_EEE+24) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #15 pc 00e41b9b /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZNSt12_Bind_simpleIFPFvvEvEEclEv+14) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #16 pc 00e41a37 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so (_ZNSt6thread5_ImplISt12_Bind_simpleIFPFvvEvEEE6_M_runEv+16) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #17 pc 012ed553 /data/app/com.hezhaoxin.solomon.vins_android-2/lib/arm/libnative-lib.so 11-21 11:30:50.764 8960-8960/? A/DEBUG: #18 pc 00047093 /system/lib/libc.so (_ZL15__pthread_startPv+22) 11-21 11:30:50.764 8960-8960/? A/DEBUG: #19 pc 00019bdd /system/lib/libc.so (__start_thread+6) 11-21 11:30:51.043 1094-1129/? I/BootReceiver: Copying /data/tombstones/tombstone_01 to DropBox (SYSTEM_TOMBSTONE) 11-21 11:30:51.043 1094-8961/? W/ActivityManager: Force finishing activity com.hezhaoxin.solomon.vins_android/.MainActivity
从log上面来看，应该是手机性能不够，因为VINS需要调用非线性优化即ceres solver库来解决非线性优化问题，而每次调用该库它会循环迭代直到满足两个条件中的一个，一是迭代收敛，得到正常结果，另外一个是迭代不收敛，但是允许的最大时间到了，强行终止，但是我们得到的答案是错误的。你运行的结果在初始化的时候就已经出错了，比如这个gyroscope bias的初始化：gyroscope bias initial calibration------------------: nan, nan, 0.000000。 如果想得到正确答案，就得去修改VINS代码中设置最大运行迭代时间，调大，我这边简单在红米3 s手机上(cortex 53, 1.4GHZ)做了测试，有的非线性优化都调到了0.5s才能得到收敛结果，希望我的回答会对你有帮助。
他代码里不是所有ceres都用这个参数作为基数然后乘以个多少倍作为最大迭代时间设置的，有的是手动直接设置的常数，另外，这里面的这个参数是我和PC端对比着profile，保证优化前后两者结果一致的情况下设置的参数，且是在我手机上，最可靠的办法，就是每个非线性优化前后都和golden数据(PC)比，测试出符合你手机最佳的最大迭代时间，注意是每个非线性优化。
发件人: Dorothy-2016 [mailto:[email protected]] 发送时间: 2017年11月21日 17:31 收件人: heguixiang/Android-VINS 抄送: Solomon He; Comment 主题: Re: [heguixiang/Android-VINS] running error (#2)
在euroc_config.yaml里有个max_solver_time的参数，原来默认设置0.04，代码里面最大运行迭代时间应该是options.max_solver_time_in_seconds,我看到原来计算的时候是options.max_solver_time_in_seconds = SOLVER_TIME4.0/5.0,你改成了SOLVER_TIME50，并且默认设置改成了0.4，这样的话最大运行迭代时间从0.032s到2s了，我现在默认按照你的设置，会出现上面的不收敛问题，你的意思是不是还要把0.4再调大点
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