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baidu / boteye

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BA failed #12

Open suimo opened 6 years ago

suimo commented 6 years ago

when I run this program , there are always BA failed errors but the program still work and localize well(I think),there somenoe konw why? 2018-02-27 16-58-30 much thanks!

kiyology commented 6 years ago

Hi @suimo This is new to us. I'm guessing it might have something to do with the incompatible dependency version. Did you install the dependencies as instructed in the wiki(make sure to follow each step closely)? Also, can you reinstall "libsuitesparse-dev". Let me know if it helps.

suimo commented 6 years ago

@kiyology thanks for your reply. I have tried to reinstall "libsuitesparse-dev",but it seems not work,the error still exists. move over,I have some other confusions:

  1. I found that it use ceres library in system path in XP/src/worker/bundle_adjuster.cc,why not use the ceres in local path(xp::ceres),what's the difference ?
  2. I found that the flag "CERES_NO_SUITESPARSE" has defined somewhere( although I don't know where the definition is),so that the sparse_linear_algebra_library_type is NO_SPARSE not SUITE_SPARSE(it should be,right?)
mingyux commented 6 years ago

@suimo It's very likely that the installation of the Ceres is corrupted.