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Commit a4ffdc28 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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hotfix

parent 279c44e2
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1 merge request!448Draft: Resolve "Implementation of new nodes creation"
Pipeline #18847 failed
...@@ -224,7 +224,7 @@ int main() ...@@ -224,7 +224,7 @@ int main()
// SOLVE with exact initial guess // SOLVE with exact initial guess
WOLF_INFO("======== SOLVE PROBLEM WITH EXACT PRIORS =======") WOLF_INFO("======== SOLVE PROBLEM WITH EXACT PRIORS =======")
std::string report = ceres->solve(ReportVerbosity::FULL); std::string report = ceres->solve(SolverManager::ReportVerbosity::FULL);
WOLF_INFO(report); // should show a very low iteration number (possibly 1) WOLF_INFO(report); // should show a very low iteration number (possibly 1)
problem->print(1, 0, 1, 0); problem->print(1, 0, 1, 0);
...@@ -235,13 +235,13 @@ int main() ...@@ -235,13 +235,13 @@ int main()
// SOLVE again // SOLVE again
WOLF_INFO("======== SOLVE PROBLEM WITH PERTURBED PRIORS =======") WOLF_INFO("======== SOLVE PROBLEM WITH PERTURBED PRIORS =======")
report = ceres->solve(ReportVerbosity::FULL); report = ceres->solve(SolverManager::ReportVerbosity::FULL);
WOLF_INFO(report); // should show a very high iteration number (more than 10, or than 100!) WOLF_INFO(report); // should show a very high iteration number (more than 10, or than 100!)
problem->print(1, 0, 1, 0); problem->print(1, 0, 1, 0);
// GET COVARIANCES of all states // GET COVARIANCES of all states
WOLF_INFO("======== COVARIANCES OF SOLVED PROBLEM =======") WOLF_INFO("======== COVARIANCES OF SOLVED PROBLEM =======")
ceres->computeCovariances(CovarianceBlocksToBeComputed::ALL_MARGINALS); ceres->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
for (auto& kf_pair : problem->getTrajectory()->getFrameMap()) for (auto& kf_pair : problem->getTrajectory()->getFrameMap())
{ {
Eigen::MatrixXd cov; Eigen::MatrixXd cov;
......
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