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HeYijia avatar HeYijia commented on August 15, 2024

可以调试这个参数试试
https://github.com/HeYijia/VINS-Course/blob/master/src/backend/problem.cc#L519

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bryantaoli avatar bryantaoli commented on August 15, 2024

可以调试这个参数试试
https://github.com/HeYijia/VINS-Course/blob/master/src/backend/problem.cc#L519

double tau = 1e-9; // 1e-7 1e-3 原始参数是1e-5我都试过，1e-3刚开始就挂了，1e-7和1e-9在和1e-5差不多的时候挂的
image
这个tau是什么意思？改变他我感觉解决不了这个问题

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