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Commit 7be7c689 authored by cont-integration's avatar cont-integration
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[skip ci] applied clang format

parent 18a90792
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2 merge requests!467Remove params struct,!448Draft: Resolve "Implementation of new nodes creation"
Pipeline #16117 skipped
...@@ -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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...@@ -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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