max_solver_time_in_seconds:求解器的最大运行秒数; num_threads:Ceres求解时使用的线程数,在老版本的Ceres中还有一个针对线性求解器的线程设置选项num_linear_solver_threads,最新版本的Ceres中该选项已被取消;虽然为了保证程序的兼容性,用户依旧可以设置该参数,但Ceres会自动忽略该参数,并没有实际意义; minimizer_...
ceres::Solver::Options options; options.linear_solver_type=ceres::SPARSE_NORMAL_CHOLESKY;//options.minimizer_progress_to_stdout = true;//options.max_solver_time_in_seconds = SOLVER_TIME * 3;options.max_num_iterations =5; ceres::Solver::Summary summary; ceres::LossFunction*loss_function; loss...
Time (in seconds): Preprocessor 0.002 Residual evaluation 0.000 Jacobian evaluation 0.000 Linear solver 0.000 Minimizer 0.001 Postprocessor 0.000 Total 0.005 Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10) Final x1 = 0.000292189, x2 = -2.92189e...
max_solver_time_in_seconds:求解器的最大运行秒数; num_threads:Ceres求解时使用的线程数,在老版本的Ceres中还有一个针对线性求解器的线程设置选项num_linear_solver_threads,最新版本的Ceres中该选项已被取消;虽然为了保证程序的兼容性,用户依旧可以设置该参数,但Ceres会自动忽略该参数,并没有实际意义; minimizer_p...
ceres::Solver::Options options; options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; options.minimizer_progress_to_stdout = false; //options.max_solver_time_in_seconds = SOLVER_TIME * 3; options.max_num_iterations = 100; ceres::Solver::Summary summary; ...
tv_sec + time_val.tv_usec * 1e-6); #endif } EventLogger::EventLogger(const std::string& logger_name) { EventLogger::EventLogger(const std::string& logger_name) : start_time_(absl::Now()) { if (!VLOG_IS_ON(3)) { return; } start_time_ = WallTimeInSeconds(); last_event_...
Time (in seconds): Preprocessor 0.002 Residual evaluation 0.000 Jacobian evaluation 0.000 Linear solver 0.000 Minimizer 0.001 Postprocessor 0.000 Total 0.005 Termination: CONVERGENCE (Gradient tolerance reached. Gradient max norm: 3.642190e-11 <= 1.000000e-10) ...
max_solver_time_in_seconds) { summary->error = "Terminating: Maximum solver time reached."; summary->message = "Terminating: Maximum solver time reached."; summary->termination_type = NO_CONVERGENCE; VLOG_IF(1, is_not_silent) << summary->error; VLOG_IF(1, is_not_silent) << summary-...
Linear solver DENSE_QR DENSE_QR Threads11Linear solver threads11Cost:Initial1.075000e+02Final1.791438e-14Change1.075000e+02Minimizer iterations14Successful steps14Unsuccessful steps0Time(inseconds): Preprocessor0.002Residual evaluation0.000Jacobian evaluation0.000Linear solver0.000Minimizer0.001Postprocessor0.000Total...
max_solver_time_in_seconds：求解器的最大运行秒数；num_threads：Ceres求解时使用的线程数；minimizer_...