What is the mainly reason that I can hardly reproduce the results of the algorithm from the drtTightly method ?

[YangYueteng]

Hi, Dr Xu, Thanks for the your released code !
However,I have some question about the running result with the dataset MH_02.
Why can't me get the final error accuracy consistent with the drtTightly_MH_02.txt in the results folder, but the accuracy of the drtLoosely method is basically the same?

In the following I would give the details about my testing result.

This is my final error precision from the MH_02 in my laptop,with the drtLoosely method:
time: 1403637004.701667 good
scale_error: 0.075404
pose_error: 0.031491
biasg_error: 1.952182
velo_error: 0.028373
gravity_error: 1.007952 0.029793
v0_error: 0.002777

And the following is the text from the drtLoosely_MH_02.txt.
time: 1403637004.701667 good
scale_error: 0.075404
pose_error: 0.031491
biasg_error: 1.952182
velo_error: 0.028373
gravity_error: 1.007952 0.029793
v0_error: 0.002777

The above seems that I can reproduce this result of the drtLoosely method.

However, the error accuracy from my test of the drtTightly method is quite different from the drtTightly_MH_02.txt as follow:

Here is the result from my testing of the drtTightly method.
time: 1403637004.701667 good
scale_error: 0.393548
pose_error: 0.137564
biasg_error: 1.952182
velo_error: 0.081215
gravity_error: 1.111030 0.029793
v0_error: 0.043315

But the text from the drtTightly_MH_02.txt is quite different :
time: 1403637004.701667 good
scale_error: 0.207388
pose_error: 0.087011
biasg_error: 2.366823
velo_error: 0.055400
gravity_error: 1.244864 0.031789
v0_error: 0.013197

Are there any tricks I have not used for the drtTightly method?
Thanks.

[boxuLibrary]

Thank you for your comment. Since the tightly coupled method optimizes the gyro bias with Ceres. I suppose the version of Ceres results in the difference. I think you can debug and check the middle information of Ceres.