diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h index 424e858f1a6af27e75135649155424dcafc260aa..e4306aa8ca126185a6343435405c1bcb5940e650 100644 --- a/include/core/ceres_wrapper/solver_ceres.h +++ b/include/core/ceres_wrapper/solver_ceres.h @@ -28,19 +28,13 @@ struct ParamsCeres : public ParamsSolver ceres::Covariance::Options covariance_options; ParamsCeres() : - ParamsSolver(), - solver_options(), - problem_options(), - covariance_options() + ParamsSolver() { loadHardcodedValues(); } ParamsCeres(std::string _unique_name, const ParamsServer& _server) : - ParamsSolver(_unique_name, _server), - solver_options(), - problem_options(), - covariance_options() + ParamsSolver(_unique_name, _server) { loadHardcodedValues(); @@ -53,6 +47,9 @@ struct ParamsCeres : public ParamsSolver void loadHardcodedValues() { + solver_options = ceres::Solver::Options(); + problem_options = ceres::Problem::Options(); + covariance_options = ceres::Covariance::Options(); problem_options.cost_function_ownership = ceres::DO_NOT_TAKE_OWNERSHIP; problem_options.loss_function_ownership = ceres::TAKE_OWNERSHIP; problem_options.local_parameterization_ownership = ceres::DO_NOT_TAKE_OWNERSHIP; diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp index c1b02b709874bce11ea89d5d7e335fe01860d7c7..e2ebc5e1f71c59599433158196870fe69b21de7f 100644 --- a/src/ceres_wrapper/solver_ceres.cpp +++ b/src/ceres_wrapper/solver_ceres.cpp @@ -14,7 +14,6 @@ namespace wolf SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem) : SolverCeres(_wolf_problem, std::make_shared<ParamsCeres>()) { - WOLF_INFO("DEFAULT PARAMS constructor"); } SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem, @@ -22,7 +21,6 @@ SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem, : SolverManager(_wolf_problem, _params) , params_ceres_(_params) { - WOLF_INFO("GIVEN PARAMS constructor verbosity: ", (int)params_ceres_->verbose); covariance_ = wolf::make_unique<ceres::Covariance>(params_ceres_->covariance_options); ceres_problem_ = wolf::make_unique<ceres::Problem>(params_ceres_->problem_options);