gtsam

qa

1. 遇到错误

   Thrown when a linear system is ill-posed. The most common cause for this erro is having underconstrained varible.
   

   可能的错误原因

   • 检查key的格式，递增是否正确
   • 检查noise model是否设置正确
   • pose发生了很大变化，一般是位姿设置正确造成的

g2o

ceres

Problem problem;

// Add residual terms to the problem using the autodiff wrapper to get the derivatives automatically.
problem.AddResidualBlock(new AutoDiffCostFunction<F1, 1, 1, 1>(new F1), nullptr, &x1, &x2);
// AutoDiffCostFunction<函数，残差的数量，第一个参数块，第二个参数块>