From 01618463821e36c149ffb2a35f79756ab4193bf4 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 15 Jun 2020 08:39:57 +0200
Subject: [PATCH] demos...
---
demos/demo_analytic_autodiff_factor.cpp | 10 ++++++----
demos/hello_wolf/hello_wolf.cpp | 7 +++----
2 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/demos/demo_analytic_autodiff_factor.cpp b/demos/demo_analytic_autodiff_factor.cpp
index 6a9a0b67a..d72f6ce2d 100644
--- a/demos/demo_analytic_autodiff_factor.cpp
+++ b/demos/demo_analytic_autodiff_factor.cpp
@@ -62,12 +62,14 @@ int main(int argc, char** argv)
SensorBasePtr sensor = new SensorBase("ODOM 2d", std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)), std::make_shared<StateBlock>(Eigen::VectorXd::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)), 2);
// 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.max_num_iterations = 1e4;
SolverCeres* ceres_manager_autodiff = new SolverCeres(wolf_problem_autodiff, ceres_options);
SolverCeres* ceres_manager_analytic = new SolverCeres(wolf_problem_analytic, ceres_options);
+ ceres_manager_autodiff.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
+ ceres_manager_autodiff.getSolverOptions().max_line_search_step_contraction = 1e-3;
+ ceres_manager_autodiff.getSolverOptions().max_num_iterations = 1e4;
+ ceres_manager_analytic.getSolverOptions().minimizer_type = ceres::TRUST_REGION; //ceres::TRUST_REGION;LINE_SEARCH
+ ceres_manager_analytic.getSolverOptions().max_line_search_step_contraction = 1e-3;
+ ceres_manager_analytic.getSolverOptions().max_num_iterations = 1e4;
// load graph from .txt
offLineFile_.open(file_path_.c_str(), std::ifstream::in);
diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 65de0c580..b747cbee6 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -104,12 +104,11 @@ int main()
// Wolf problem and solver
ProblemPtr problem = Problem::create("PO", 2);
- ceres::Solver::Options options;
- options.max_num_iterations = 1000; // We depart far from solution, need a lot of iterations
- SolverCeresPtr ceres = std::make_shared<SolverCeres>(problem, options);
+ SolverCeresPtr ceres = std::make_shared<SolverCeres>(problem);
+ ceres.getSolverOptions().max_num_iterations = 1000; // We depart far from solution, need a lot of iterations
// sensor odometer 2d
- ParamsSensorOdom2dPtr intrinsics_odo = std::make_shared<ParamsSensorOdom2d>();
+ ParamsSensorOdom2dPtr intrinsics_odo = std::make_shared<ParamsSensorOdom2d>();
SensorBasePtr sensor_odo = problem->installSensor("SensorOdom2d", "sensor odo", Vector3d(0,0,0), intrinsics_odo);
// processor odometer 2d
--
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