diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h index 680f16e40286a48758419b009b8b4bbbcfbea9e3..e1f9e39fed242bb441c0afee15b44a15fb8a391b 100644 --- a/include/core/ceres_wrapper/solver_ceres.h +++ b/include/core/ceres_wrapper/solver_ceres.h @@ -122,7 +122,7 @@ class SolverCeres : public SolverManager void printProfilingDerived(std::ostream& _stream) const override; // PARAMS - ceres::Solver::Options solver_options_; + ceres::Solver::Options solver_options_; }; inline ceres::Solver::Summary SolverCeres::getSummary() diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp index 4762d7abf3180745003f57befe958b072ac0c892..37e525cb373737d7343476a7120773ee67d6ace8 100644 --- a/src/ceres_wrapper/solver_ceres.cpp +++ b/src/ceres_wrapper/solver_ceres.cpp @@ -96,13 +96,13 @@ SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem, const ParamsCeresPtr& 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; - ceres_problem_ = std::make_unique<ceres::Problem>(problem_options); + ceres_problem_ = std::make_unique<ceres::Problem>(problem_options); // COVARIANCE OPTIONS auto covariance_options = ceres::Covariance::Options(); covariance_options.apply_loss_function = false; covariance_options.num_threads = solver_options_.num_threads; - covariance_ = std::make_unique<ceres::Covariance>(covariance_options); + covariance_ = std::make_unique<ceres::Covariance>(covariance_options); } SolverCeres::~SolverCeres()