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Commit 3d772b1d authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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tests/demos adapted to SolverCeres

parent 3940b80d
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2 merge requests!30Release after RAL,!29After 2nd RAL submission
......@@ -171,15 +171,14 @@ int main(int argc, char** argv)
problem.setPrior(ground_truth_pose, Eigen::Matrix3d::Identity() * 0.1, ts, 0.1);
// Ceres wrapper
ceres::Solver::Options ceres_options;
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
// ceres_options.minimizer_progress_to_stdout = false;
// ceres_options.line_search_direction_type = ceres::LBFGS;
// ceres_options.max_num_iterations = 100;
SolverCeres ceres_manager(&problem);
ceres_manager.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_manager.getSolverOptions().max_line_search_step_contraction = 1e-3;
// ceres_manager.getSolverOptions().minimizer_progress_to_stdout = false;
// ceres_manager.getSolverOptions().line_search_direction_type = ceres::LBFGS;
// ceres_manager.getSolverOptions().max_num_iterations = 100;
google::InitGoogleLogging(argv[0]);
CeresManager ceres_manager(&problem, ceres_options);
std::ofstream log_file, landmark_file; //output file
std::cout << "START TRAJECTORY..." << std::endl;
......
......@@ -257,15 +257,15 @@ int main(int argc, char** argv)
odom_processor->setOrigin(origin_frame);
// Ceres wrapper
ceres::Solver::Options ceres_options;
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
// ceres_options.minimizer_progress_to_stdout = false;
// ceres_options.line_search_direction_type = ceres::LBFGS;
// ceres_options.max_num_iterations = 100;
SolverCeres ceres_manager(&problem);
ceres_manager.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_manager.getSolverOptions().max_line_search_step_contraction = 1e-3;
// ceres_manager.getSolverOptions().minimizer_progress_to_stdout = false;
// ceres_manager.getSolverOptions().line_search_direction_type = ceres::LBFGS;
// ceres_manager.getSolverOptions().max_num_iterations = 100;
google::InitGoogleLogging(argv[0]);
CeresManager ceres_manager(&problem, ceres_options);
SolverCeres ceres_manager(&problem, ceres_options);
std::ofstream log_file, landmark_file; //output file
//std::cout << "START TRAJECTORY..." << std::endl;
......
......@@ -264,15 +264,15 @@ int main(int argc, char** argv)
odom_processor->setOrigin(origin_frame);
// Ceres wrapper
ceres::Solver::Options ceres_options;
ceres_options.minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_options.max_line_search_step_contraction = 1e-3;
// ceres_options.minimizer_progress_to_stdout = false;
// ceres_options.line_search_direction_type = ceres::LBFGS;
// ceres_options.max_num_iterations = 100;
SolverCeres ceres_manager(&problem);
ceres_manager.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
ceres_manager.getSolverOptions().max_line_search_step_contraction = 1e-3;
// ceres_manager.getSolverOptions().minimizer_progress_to_stdout = false;
// ceres_manager.getSolverOptions().line_search_direction_type = ceres::LBFGS;
// ceres_manager.getSolverOptions().max_num_iterations = 100;
google::InitGoogleLogging(argv[0]);
CeresManager ceres_manager(&problem, ceres_options);
SolverCeres ceres_manager(&problem, ceres_options);
std::ofstream log_file, landmark_file; //output file
//std::cout << "START TRAJECTORY..." << std::endl;
......
......@@ -37,7 +37,7 @@ class ProcessorOdomIcp_Test : public testing::Test
{
public:
ProblemPtr problem;
CeresManagerPtr solver;
SolverCeresPtr solver;
SensorLaser2dPtr lidar;
ProcessorOdomIcpPublicPtr processor;
......@@ -51,7 +51,7 @@ class ProcessorOdomIcp_Test : public testing::Test
void SetUp() override
{
problem = Problem::create("PO", 2);
solver = std::make_shared<CeresManager>(problem);
solver = std::make_shared<SolverCeres>(problem);
auto sen = problem->installSensor("SensorLaser2d", "lidar", Eigen::Vector3d(0,0,0), laser_root_dir + "/test/yaml/sensor_laser_2d.yaml");
lidar = std::static_pointer_cast<SensorLaser2d>(sen);
......
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