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...
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...
max_solver_time_in_seconds = 0.005; options.function_tolerance = 1.e-5; options.minimizer_progress_to_stdout = false; ceres::Solver::Summary summary; ceres::Solve(options, &problem, &summary); // Update Twc = posepar.getPose(); 逐个分析上面的代码: LossFunction:Ceres为我们定义好了常用...
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; ...
max_num_iterations：求解器的最大迭代次数；max_solver_time_in_seconds：求解器的最大运行秒数；num_...
max_solver_time_in_seconds) { summary->message = "Maximum solver time reached."; summary->termination_type = NO_CONVERGENCE; @@ -345,7 +347,7 @@ void LineSearchMinimizer::Minimize(const Minimizer::Options& options, current_state.step_size = optimal_point.x; previous_state = current_state...
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-...
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) ...
在使用Ceres库进行非线性优化（二）中介绍了三种求导方式。本文就最小化罗森布罗克函数再次进行示例。并...