From 00abe6295dded8ec7f088a0ed52aeed82172ddd5 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 15 Jun 2020 08:43:25 +0200
Subject: [PATCH] demos adapted to SolverCeres
---
demos/demo_factor_imu.cpp | 9 ++++-----
demos/demo_imuPlateform_Offline.cpp | 9 ++++-----
demos/demo_imu_constrained0.cpp | 9 ++++-----
3 files changed, 12 insertions(+), 15 deletions(-)
diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index 117e54595..581d74293 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -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;
diff --git a/demos/demo_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp
index 9006e6aa7..628c4b65e 100644
--- a/demos/demo_imuPlateform_Offline.cpp
+++ b/demos/demo_imuPlateform_Offline.cpp
@@ -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");
diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
index 0512a8ac4..66db5c1c7 100644
--- a/demos/demo_imu_constrained0.cpp
+++ b/demos/demo_imu_constrained0.cpp
@@ -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");
--
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