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Sophus + ceres 对SE3的位姿优化实践，PnP iter cost cost_change |gradient| |step| tr_ratio tr_radius ls_iter iter_time total_time 0 6.971092e+01 0.00e+00 2.29e+01 0.00e+00 0.00e+00 1.00e+04 0 7.45e-05 2.28e-04 1 5.852248e+01 1.12e+01 8.91e+00 1.03e+01 1.82e+00 3.00e+04 0 1.41e-04 4.02e-04 2 2.764596e+01 3.09e+01 2.00e+01 2.52e+00 4.94e+00 9.00e+04 0 7.64e-05 4.94e-04 3 7.834946e-02 2.76e+01 1.37e+01 2.36e-01 4.48e+00 2.70e+05 0 7.05e-05 5.76e-04 4 4.140774e-02 3.69e-02 1.03e+01 2.52e-03 1.09e+00 8.10e+05 0 6.93e-05 6.57e-04 5 4.119084e-02 2.17e-04 1.67e+01 2.11e-04 1.07e+00 2.43e+06 0 6.94e-05 7.40e-04 6 4.118984e-02 1.00e-06 1.63e+00 1.41e-05 1.06e+00 7.29e+06 0 6.83e-05 8.18e-04 7 4.118983e-02 4.19e-09 1.06e-01 9.14e-07 1.06e+00 2.19e+07 0 6.74e-05 8.94e-04 Ceres Solver Report: Iterations: 8, Initial cost: 6.971092e+01, Final cost: 4.118983e-02, Termination: CONVERGENCE after optimize: 0.925421 -0.287927 0.246363 -0.722 0.336739 0.92301 -0.18617 -8.15989 -0.173792 0.255245 0.951129 9.10729 0 0 0 1 err_opt:0.0038567 -0.00193814 0.00258262 -0.0020643 -0.000398187 -0.000119575 0.000116657 true value: 0.925417 -0.288133 0.246137 -0.725046 0.336824 0.923045 -0.185843 -8.15777 -0.173648 0.254887 0.951251 9.10632 0 0 0 1 err_init:10.3912 -3.06362 8.02512 -5.81668 -0.14186 0.155837 -0.557138