Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
I
imu
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Deploy
Releases
Model registry
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
mobile_robotics
wolf_projects
wolf_lib
plugins
imu
Commits
00abe629
Commit
00abe629
authored
5 years ago
by
Joan Vallvé Navarro
Browse files
Options
Downloads
Patches
Plain Diff
demos adapted to SolverCeres
parent
3e2db0ba
No related branches found
No related tags found
2 merge requests
!39
release after RAL
,
!38
After 2nd RAL submission
Changes
3
Hide whitespace changes
Inline
Side-by-side
Showing
3 changed files
demos/demo_factor_imu.cpp
+4
-5
4 additions, 5 deletions
demos/demo_factor_imu.cpp
demos/demo_imuPlateform_Offline.cpp
+4
-5
4 additions, 5 deletions
demos/demo_imuPlateform_Offline.cpp
demos/demo_imu_constrained0.cpp
+4
-5
4 additions, 5 deletions
demos/demo_imu_constrained0.cpp
with
12 additions
and
15 deletions
demos/demo_factor_imu.cpp
+
4
−
5
View file @
00abe629
...
...
@@ -31,11 +31,10 @@ int main(int argc, char** argv)
wolf_problem_ptr_
->
installProcessor
(
"IMU"
,
"IMU pre-integrator"
,
"Main IMU"
,
""
);
// Ceres wrappers
ceres
::
Solver
::
Options
ceres_options
;
ceres_options
.
minimizer_type
=
ceres
::
TRUST_REGION
;
//ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options
.
max_line_search_step_contraction
=
1e-3
;
ceres_options
.
max_num_iterations
=
1e4
;
SolverCeres
*
ceres_manager_wolf_diff
=
new
SolverCeres
(
wolf_problem_ptr_
,
ceres_options
,
true
);
SolverCeres
*
ceres_manager_wolf_diff
=
new
SolverCeres
(
wolf_problem_ptr_
);
ceres_manager_wolf_diff
->
getSolverOptions
().
minimizer_type
=
ceres
::
TRUST_REGION
;
//ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_manager_wolf_diff
->
getSolverOptions
().
max_line_search_step_contraction
=
1e-3
;
ceres_manager_wolf_diff
->
getSolverOptions
().
max_num_iterations
=
1e4
;
// Time and data variables
TimeStamp
t
;
...
...
This diff is collapsed.
Click to expand it.
demos/demo_imuPlateform_Offline.cpp
+
4
−
5
View file @
00abe629
...
...
@@ -74,11 +74,10 @@ int main(int argc, char** argv)
TimeStamp
t
(
0
);
// CERES WRAPPER
ceres
::
Solver
::
Options
ceres_options
;
ceres_options
.
minimizer_type
=
ceres
::
TRUST_REGION
;
//ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options
.
max_line_search_step_contraction
=
1e-3
;
ceres_options
.
max_num_iterations
=
1e4
;
SolverCeres
*
ceres_manager_wolf_diff
=
new
SolverCeres
(
wolf_problem_ptr_
,
ceres_options
);
SolverCeres
*
ceres_manager_wolf_diff
=
new
SolverCeres
(
wolf_problem_ptr_
);
ceres_manager_wolf_diff
->
getSolverOptions
().
minimizer_type
=
ceres
::
TRUST_REGION
;
//ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_manager_wolf_diff
->
getSolverOptions
().
max_line_search_step_contraction
=
1e-3
;
ceres_manager_wolf_diff
->
getSolverOptions
().
max_num_iterations
=
1e4
;
// SENSOR + PROCESSOR IMU
SensorBasePtr
sen0_ptr
=
wolf_problem_ptr_
->
installSensor
(
"IMU"
,
"Main IMU"
,
(
Vector7d
()
<<
0
,
0
,
0
,
0
,
0
,
0
,
1
).
finished
(),
wolf_root
+
"/src/examples/sensor_imu.yaml"
);
...
...
This diff is collapsed.
Click to expand it.
demos/demo_imu_constrained0.cpp
+
4
−
5
View file @
00abe629
...
...
@@ -95,11 +95,10 @@ int main(int argc, char** argv)
imu_data_input
>>
origin_bias
[
0
]
>>
origin_bias
[
1
]
>>
origin_bias
[
2
]
>>
origin_bias
[
3
]
>>
origin_bias
[
4
]
>>
origin_bias
[
5
];
// CERES WRAPPER
ceres
::
Solver
::
Options
ceres_options
;
ceres_options
.
minimizer_type
=
ceres
::
TRUST_REGION
;
//ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_options
.
max_line_search_step_contraction
=
1e-3
;
ceres_options
.
max_num_iterations
=
1e4
;
SolverCeres
*
ceres_manager_wolf_diff
=
new
SolverCeres
(
wolf_problem_ptr_
,
ceres_options
);
SolverCeres
*
ceres_manager_wolf_diff
=
new
SolverCeres
(
wolf_problem_ptr_
);
ceres_manager_wolf_diff
->
getSolverOptions
().
minimizer_type
=
ceres
::
TRUST_REGION
;
//ceres::TRUST_REGION;ceres::LINE_SEARCH
ceres_manager_wolf_diff
->
getSolverOptions
().
max_line_search_step_contraction
=
1e-3
;
ceres_manager_wolf_diff
->
getSolverOptions
().
max_num_iterations
=
1e4
;
// SENSOR + PROCESSOR IMU
SensorBasePtr
sen0_ptr
=
wolf_problem_ptr_
->
installSensor
(
"IMU"
,
"Main IMU"
,
(
Vector7d
()
<<
0
,
0
,
0
,
0
,
0
,
0
,
1
).
finished
(),
wolf_root
+
"/src/examples/sensor_imu.yaml"
);
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment