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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
7be7c689
Commit
7be7c689
authored
2 years ago
by
cont-integration
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[skip ci] applied clang format
parent
18a90792
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2 merge requests
!467
Remove params struct
,
!448
Draft: Resolve "Implementation of new nodes creation"
Pipeline
#16117
skipped
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2 changed files
include/core/ceres_wrapper/solver_ceres.h
+1
-1
1 addition, 1 deletion
include/core/ceres_wrapper/solver_ceres.h
src/ceres_wrapper/solver_ceres.cpp
+2
-2
2 additions, 2 deletions
src/ceres_wrapper/solver_ceres.cpp
with
3 additions
and
3 deletions
include/core/ceres_wrapper/solver_ceres.h
+
1
−
1
View file @
7be7c689
...
@@ -122,7 +122,7 @@ class SolverCeres : public SolverManager
...
@@ -122,7 +122,7 @@ class SolverCeres : public SolverManager
void
printProfilingDerived
(
std
::
ostream
&
_stream
)
const
override
;
void
printProfilingDerived
(
std
::
ostream
&
_stream
)
const
override
;
// PARAMS
// PARAMS
ceres
::
Solver
::
Options
solver_options_
;
ceres
::
Solver
::
Options
solver_options_
;
};
};
inline
ceres
::
Solver
::
Summary
SolverCeres
::
getSummary
()
inline
ceres
::
Solver
::
Summary
SolverCeres
::
getSummary
()
...
...
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src/ceres_wrapper/solver_ceres.cpp
+
2
−
2
View file @
7be7c689
...
@@ -96,13 +96,13 @@ SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem, const ParamsCeresPtr&
...
@@ -96,13 +96,13 @@ SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem, const ParamsCeresPtr&
problem_options
.
cost_function_ownership
=
ceres
::
DO_NOT_TAKE_OWNERSHIP
;
problem_options
.
cost_function_ownership
=
ceres
::
DO_NOT_TAKE_OWNERSHIP
;
problem_options
.
loss_function_ownership
=
ceres
::
TAKE_OWNERSHIP
;
problem_options
.
loss_function_ownership
=
ceres
::
TAKE_OWNERSHIP
;
problem_options
.
local_parameterization_ownership
=
ceres
::
DO_NOT_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
// COVARIANCE OPTIONS
auto
covariance_options
=
ceres
::
Covariance
::
Options
();
auto
covariance_options
=
ceres
::
Covariance
::
Options
();
covariance_options
.
apply_loss_function
=
false
;
covariance_options
.
apply_loss_function
=
false
;
covariance_options
.
num_threads
=
solver_options_
.
num_threads
;
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
()
SolverCeres
::~
SolverCeres
()
...
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