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cmax_slam's Issues

Question about Contrast Maximization via Ceres Solver

Thank you very much for your nice work!
I have a question when I try to solve angular velocity (contrast maximization) by Ceres Solver. In a selcted event window,
I found that the residual of contrast is 1 dimension，but the estimated angular velocity is 3 dimension, resulting in Rank Deficiency in nonlinear optimization. Based on your implementation, I try ITERATIVE_SCHUR and CGNR to solve the same problem but it does not converge at all. I find you release the interface “setupProblemAndOptimize_ceres” but without implementation. Have you tried something similar like me？ Would you please give me some suggestion?

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