Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 2.704644e+00 Final 1.912804e+00 Change 7.918397e-01 Minimizer iterations 20 Successful steps 15 Unsuccessful steps 5 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.001 Jacobian evaluation 0.006 Linear solver 0.002 Minimizer 0.036 Postprocessor 0.000 Total 0.036 Termination: NO_CONVERGENCE (Maximum number of iterations reached.) Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 6.739366e+00 Final 2.115152e+00 Change 4.624214e+00 Minimizer iterations 20 Successful steps 15 Unsuccessful steps 5 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.001 Jacobian evaluation 0.005 Linear solver 0.002 Minimizer 0.032 Postprocessor 0.000 Total 0.033 Termination: NO_CONVERGENCE (Maximum number of iterations reached.) Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 7.434679e+00 Final 1.432428e+00 Change 6.002251e+00 Minimizer iterations 20 Successful steps 15 Unsuccessful steps 5 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.001 Jacobian evaluation 0.006 Linear solver 0.002 Minimizer 0.038 Postprocessor 0.000 Total 0.039 Termination: NO_CONVERGENCE (Maximum number of iterations reached.) Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 3.748047e+00 Final 2.480412e+00 Change 1.267635e+00 Minimizer iterations 20 Successful steps 15 Unsuccessful steps 5 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.001 Jacobian evaluation 0.006 Linear solver 0.002 Minimizer 0.036 Postprocessor 0.000 Total 0.036 Termination: NO_CONVERGENCE (Maximum number of iterations reached.) Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 1.127300e+01 Final 3.526273e+00 Change 7.746731e+00 Minimizer iterations 20 Successful steps 15 Unsuccessful steps 5 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.001 Jacobian evaluation 0.006 Linear solver 0.002 Minimizer 0.036 Postprocessor 0.000 Total 0.036 Termination: NO_CONVERGENCE (Maximum number of iterations reached.) Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 1.316254e+01 Final 8.703125e+00 Change 4.459418e+00 Minimizer iterations 2 Successful steps 2 Unsuccessful steps 0 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.000 Jacobian evaluation 0.001 Linear solver 0.000 Minimizer 0.007 Postprocessor 0.000 Total 0.007 Termination: CONVERGENCE (Parameter tolerance reached. Relative step_norm: 0.000000e+00 <= 1.000000e-09.) Ceres Solver Report ------------------- Original Reduced Parameter blocks 1 1 Parameters 3 3 Residual blocks 1 1 Residual 9 9 Minimizer TRUST_REGION Dense linear algebra library EIGEN Trust region strategy LEVENBERG_MARQUARDT Given Used Linear solver DENSE_QR DENSE_QR Threads 1 1 Linear solver threads 1 1 Cost: Initial 4.617839e+00 Final 2.004236e+00 Change 2.613602e+00 Minimizer iterations 11 Successful steps 4 Unsuccessful steps 7 Time (in seconds): Preprocessor 0.000 Residual evaluation 0.000 Jacobian evaluation 0.009 Linear solver 0.001 Minimizer 0.058 Postprocessor 0.000 Total 0.058