From 90953f6bd29d014fb7ba7b060e520cba55b930ac Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Mon, 29 Apr 2019 12:12:30 +0200
Subject: [PATCH] Added Ceres_Manager `getCeresProblem()` to ease the creation
of the gnss plugin. May need to revert in the future
---
include/base/ceres_wrapper/ceres_manager.h | 7 ++++++-
src/ceres_wrapper/ceres_manager.cpp | 7 +++++++
2 files changed, 13 insertions(+), 1 deletion(-)
diff --git a/include/base/ceres_wrapper/ceres_manager.h b/include/base/ceres_wrapper/ceres_manager.h
index f937332f1..d156fd805 100644
--- a/include/base/ceres_wrapper/ceres_manager.h
+++ b/include/base/ceres_wrapper/ceres_manager.h
@@ -9,7 +9,7 @@
//wolf includes
#include "base/solver/solver_manager.h"
#include "base/ceres_wrapper/cost_function_wrapper.h"
-#include "local_parametrization_wrapper.h"
+#include "base/ceres_wrapper/local_parametrization_wrapper.h"
#include "base/ceres_wrapper/create_numeric_diff_cost_function.h"
namespace ceres {
@@ -48,6 +48,11 @@ class CeresManager : public SolverManager
ceres::Solver::Summary getSummary();
+ std::unique_ptr<ceres::Problem>& getCeresProblem()
+ {
+ return ceres_problem_;
+ }
+
virtual void computeCovariances(CovarianceBlocksToBeComputed _blocks
= CovarianceBlocksToBeComputed::ROBOT_LANDMARKS) override;
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 08d05aaa1..5871b8fa1 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -259,6 +259,9 @@ void CeresManager::addFactor(const FactorBasePtr& fac_ptr)
auto loss_func_ptr = (fac_ptr->getApplyLossFunction()) ? new ceres::CauchyLoss(0.5) : nullptr;
+ //std::cout << "Added residual block corresponding to constraint " << std::static_pointer_cast<CostFunctionWrapper>(cost_func_ptr)->getConstraintPtr()->getType() << std::static_pointer_cast<CostFunctionWrapper>(cost_func_ptr)->getConstraintPtr()->id() <<std::endl;
+
+ assert((unsigned int)(ceres_problem_->NumResidualBlocks()) == fac_2_residual_idx_.size() && "ceres residuals different from wrapper residuals");
assert(fac_2_residual_idx_.find(fac_ptr) == fac_2_residual_idx_.end() && "adding a factor that is already in the fac_2_residual_idx_ map");
fac_2_residual_idx_[fac_ptr] = ceres_problem_->AddResidualBlock(cost_func_ptr.get(),
@@ -296,11 +299,15 @@ void CeresManager::addStateBlock(const StateBlockPtr& state_ptr)
state_ptr->getSize(),
local_parametrization_ptr);
+ if (state_ptr->isFixed())
+ ceres_problem_->SetParameterBlockConstant(getAssociatedMemBlockPtr(state_ptr));
+
updateStateBlockStatus(state_ptr);
}
void CeresManager::removeStateBlock(const StateBlockPtr& state_ptr)
{
+ //std::cout << "CeresManager::removeStateBlock " << state_ptr.get() << " - " << getAssociatedMemBlockPtr(state_ptr) << std::endl;
assert(state_ptr);
ceres_problem_->RemoveParameterBlock(getAssociatedMemBlockPtr(state_ptr));
state_blocks_local_param_.erase(state_ptr);
--
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