Comments (3)
测试此程序时也遇到类似的现象,定位了根因,并解决了问题。
【测试环境】:ubuntu 14.04
【问题描述】:初始化过程中不收敛,优化时LM会挂掉,现场一致。
【根因描述】:
1、ceres的库引起,构建时因为配置原因,ceres的ceres::DENSE_SCHUR模式无法使用,而初始化流程中SFM部分,默认是使用此方式。
2、构建ceres,进行cmake ..时报以下语句:
....
Disabling the use of Eigen as a sparse linear algebra library.
This does not affect the covariance estimation algorithm
which can still use the EIGEN_SPARSE_QR algorithm.
....
3、与系统版本没有关系,测试使用的是ubuntu 14.04
【解决办法】
方法1、重新构建ceres。(我没尝试)
方法2、将优化的配置参数设置为ceres::SPARSE_SCHUR
代码位置:initial_sfm.cpp文件中第275行options.linear_solver_type = ceres::DENSE_SCHUR;
目前测试时的问题已经解决,你试试是不是同样的原因。
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mac 版本我还真没测试过,不过这个版本应该有两个同学跑通过。看你 log 前面初始化的时候Initialization finish! 前面那一段好像很多 imu 数据丢失。应该是系统没有初始化好(数据有丢失?)就开始跑后面的 vio,所以没多久就跪了。
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@HeYijia 所以这个wait for imu, only should happen at the beginning sum_of_wait: 80
其实是不正常的是吧,我debug一下看看,谢谢!
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Related Issues (13)
- 请问编译成功了,在运行的时候eigen库报错是什么原因呢? HOT 1
- 请问跑Euroc的MH_04轨迹跑一半会跑飞,怎么办呀?
- global sfm failed
- 更新先验b_prior_时,为什么是“减法”?
- 为什么后端资源消耗反而比vins更多呢
- 贺博为什么这个代码,我编译到97%就失败了呢?只有run_euroc,还运行不了 HOT 2
- 为啥在eurocV1_01_easy上运行后面就发散了? HOT 2
- 请问opencv是基于哪个版本的
- 优化函数更新b_prior_和err_prior_矩阵问题 HOT 1
- 请问编译过程中EIGEN库的sparsecore报错是什么原因呢,是跟opencv的版本有关吗 HOT 1
- 只能运行demo中的MH_05_difficult数据吗 HOT 1
- backend 中的.h 文件去哪了
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