diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index dd88e5db6bf3b7ac38a925a64ba66c089dbb09ec..9408ab7ad594b73e5ec75aa689a646fe68a24380 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -20,17 +20,48 @@ typedef std::shared_ptr<CostFunction> CostFunctionPtr;
namespace wolf {
WOLF_PTR_TYPEDEFS(CeresManager);
+WOLF_PTR_TYPEDEFS(ParamsCeres);
-struct CeresParams : public SolverParams
+struct ParamsCeres : public ParamsSolver
{
- CeresParams() = default;
+ bool update_immediately;
+ ceres::Solver::Options solver_options;
+ ceres::Problem::Options problem_options;
+ ceres::Covariance::Options covariance_options;
+
+ ParamsCeres() :
+ update_immediately(false),
+ solver_options(),
+ problem_options(),
+ covariance_options()
+ {
+ 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;
+
+ #if CERES_VERSION_MINOR >= 13
+ covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
+ covariance_options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
+ #elif CERES_VERSION_MINOR >= 10
+ covariance_options.algorithm_type = ceres::SUITE_SPARSE_QR;//ceres::DENSE_SVD;
+ #else
+ covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
+ #endif
+ covariance_options.num_threads = 1;
+ covariance_options.apply_loss_function = false;
+
+ }
- CeresParams(std::string _unique_name, CeresParams& params)
+ ParamsCeres(std::string _unique_name, const ParamsServer& _server) :
+ ParamsCeres()
{
- //
+ update_immediately = _server.getParam<bool>(prefix + "update_immediately");
+
+ // ceres solver options
+ solver_options.max_num_iterations = _server.getParam<int>(prefix + "max_num_iterations");
}
- ~CeresParams() override = default;
+ ~ParamsCeres() override = default;
};
/** \brief Ceres manager for WOLF
*
@@ -45,20 +76,25 @@ class CeresManager : public SolverManager
std::map<StateBlockPtr, LocalParametrizationWrapperPtr> state_blocks_local_param_;
- ceres::Solver::Options ceres_options_;
ceres::Solver::Summary summary_;
std::unique_ptr<ceres::Problem> ceres_problem_;
std::unique_ptr<ceres::Covariance> covariance_;
+ ParamsCeresPtr params_ceres_;
+
public:
+// CeresManager(const ProblemPtr& _wolf_problem,
+// const ceres::Solver::Options& _ceres_options
+// = ceres::Solver::Options());
+ CeresManager(const ProblemPtr& _wolf_problem);
+
CeresManager(const ProblemPtr& _wolf_problem,
- const ceres::Solver::Options& _ceres_options
- = ceres::Solver::Options());
+ const ParamsCeresPtr& _params);
- ~CeresManager() override;
+ WOLF_SOLVER_CREATE(CeresManager, ParamsCeres);
- static SolverManagerPtr create(const ProblemPtr& _wolf_problem, const ParamsServer& _server);
+ ~CeresManager() override;
ceres::Solver::Summary getSummary();
@@ -119,7 +155,7 @@ inline std::unique_ptr<ceres::Problem>& CeresManager::getCeresProblem()
inline ceres::Solver::Options& CeresManager::getSolverOptions()
{
- return ceres_options_;
+ return params_ceres_->solver_options;
}
inline bool CeresManager::isFactorRegisteredDerived(const FactorBasePtr& fac_ptr) const
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 9b2a665facbd1cf2590a81cb311075789b33f575..bbd21e22ea38d1bfe66954e541af28766001f4a9 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -10,6 +10,7 @@
namespace wolf {
WOLF_PTR_TYPEDEFS(SolverManager)
+WOLF_PTR_TYPEDEFS(ParamsSolver)
/*
* Macro for defining Autoconf solver creator for WOLF's high level API.
@@ -20,42 +21,37 @@ WOLF_PTR_TYPEDEFS(SolverManager)
* In order to use this macro, the derived solver manager class, SolverManagerClass,
* must have a constructor available with the API:
*
- * SolverManagerClass(const SolverParamsClassPtr _params);
+ * SolverManagerClass(const ProblemPtr& wolf_problem,
+ * const ParamsSolverClassPtr _params);
*/
-#define WOLF_SOLVER_CREATE(SolverClass, SolverParamClass) \
-static SolverManagerPtr create(const std::string& _unique_name, \
- const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<SolverParamClass>(_unique_name, _server); \
- \
- auto solver = std::make_shared<SolverClass>(params); \
- \
- solver->setName(_unique_name); \
- \
- return solver; \
-} \
-static SolverManagerPtr create(const std::string& _unique_name, const SolverParamsPtr _params) \
-{ \
- auto params = std::static_pointer_cast<SolverParamClass>(_params); \
- \
- auto solver = std::make_shared<SolverClass>(params); \
- \
- solver->setName(_unique_name); \
- \
- return solver; \
-} \
-
-struct SolverParams: public ParamsBase
+#define WOLF_SOLVER_CREATE(SolverClass, ParamsSolverClass) \
+static SolverManagerPtr create(const ProblemPtr& _problem, \
+ const ParamsServer& _server) \
+{ \
+ auto params = std::make_shared<ParamsSolverClass>(#SolverClass, _server); \
+ return std::make_shared<SolverClass>(_problem, params); \
+} \
+static SolverManagerPtr create(const ProblemPtr& _problem, \
+ const ParamsSolverPtr _params) \
+{ \
+ auto params = std::static_pointer_cast<ParamsSolverClass>(_params); \
+ return std::make_shared<SolverClass>(_problem, params); \
+} \
+
+struct ParamsSolver: public ParamsBase
{
- SolverParams() = default;
- SolverParams(std::string _unique_name, const ParamsServer& _server):
- ParamsBase(_unique_name, _server)
- {
- //
- }
+ std::string prefix = "solver/";
+
+ ParamsSolver() = default;
+ ParamsSolver(std::string _unique_name, const ParamsServer& _server):
+ ParamsBase(_unique_name, _server)
+ {
+ //
+ }
- ~SolverParams() override = default;
+ ~ParamsSolver() override = default;
};
+
/**
* \brief Solver manager for WOLF
*/
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index b5bcfa4b7b6dc09e990adbecb93685c0294dbef5..d78128ae960e7be8b9c957cd36f9812d53f14249 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -5,35 +5,40 @@
#include "core/landmark/landmark_base.h"
#include "core/utils/make_unique.h"
-namespace wolf {
+namespace wolf
+{
+
+CeresManager::CeresManager(const ProblemPtr& _wolf_problem) :
+ CeresManager(_wolf_problem, std::make_shared<ParamsCeres>())
+{
+
+}
CeresManager::CeresManager(const ProblemPtr& _wolf_problem,
- const ceres::Solver::Options& _ceres_options) :
- SolverManager(_wolf_problem),
- ceres_options_(_ceres_options)
+ const ParamsCeresPtr& _params) :
+ SolverManager(_wolf_problem),
+ params_ceres_(_params)
{
- ceres::Covariance::Options covariance_options;
-#if CERES_VERSION_MINOR >= 13
- covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
- covariance_options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
-#elif CERES_VERSION_MINOR >= 10
- covariance_options.algorithm_type = ceres::SUITE_SPARSE_QR;//ceres::DENSE_SVD;
-#else
- covariance_options.algorithm_type = ceres::SPARSE_QR;//ceres::DENSE_SVD;
-#endif
- covariance_options.num_threads = 1;
- covariance_options.apply_loss_function = false;
- //covariance_options.null_space_rank = -1;
- covariance_ = wolf::make_unique<ceres::Covariance>(covariance_options);
-
- ceres::Problem::Options problem_options;
- 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_ = wolf::make_unique<ceres::Problem>(problem_options);
+ covariance_ = wolf::make_unique<ceres::Covariance>(params_ceres_->covariance_options);
+ ceres_problem_ = wolf::make_unique<ceres::Problem>(params_ceres_->problem_options);
}
+//CeresManager::CeresManager(const ProblemPtr& _wolf_problem,
+// const ceres::Solver::Options& _ceres_options) :
+// SolverManager(_wolf_problem),
+// params_ceres_->solver_options(_ceres_options)
+//{
+//
+// covariance_ = wolf::make_unique<ceres::Covariance>(covariance_options);
+//
+// ceres::Problem::Options problem_options;
+// 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_ = wolf::make_unique<ceres::Problem>(problem_options);
+//}
+
CeresManager::~CeresManager()
{
while (!fac_2_residual_idx_.empty())
@@ -46,18 +51,10 @@ CeresManager::~CeresManager()
}
}
- SolverManagerPtr CeresManager::create(const ProblemPtr &_wolf_problem, const ParamsServer& _server)
-{
- ceres::Solver::Options opt;
- opt.max_num_iterations = _server.getParam<int>("solver/max_num_iterations");
- // CeresManager m = CeresManager(wolf_problem, opt);
- return std::make_shared<CeresManager>(_wolf_problem, opt);
-}
-
std::string CeresManager::solveDerived(const ReportVerbosity report_level)
{
// run Ceres Solver
- ceres::Solve(ceres_options_, ceres_problem_.get(), &summary_);
+ ceres::Solve(params_ceres_->solver_options, ceres_problem_.get(), &summary_);
std::string report;
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 813077742ceca8ee0b7b60913fab479145c4298b..4f1b16ee54140a055a27e5abdeb1599f631cd1a5 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -436,8 +436,7 @@ TimeStamp Problem::getTimeStamp ( ) const
}
- if (not ts.ok())
- WOLF_WARN( "Problem has nowhere to find a valid timestamp!");
+ WOLF_DEBUG_COND(not ts.ok(), "Problem has nowhere to find a valid timestamp!");
return ts;
}
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 9c739965701b6236dcff93fbafba1bd12f90eddb..738ec794e1d1d7ffc1ed96588207d66488933ffb 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -43,8 +43,7 @@ class FixtureFactorBlockDifference : public testing::Test
{
// Problem and solver
problem_ = Problem::create("POV", 3);
- ceres::Solver::Options ceres_options;
- ceres_manager_ = std::make_shared<CeresManager>(problem_, ceres_options);
+ ceres_manager_ = std::make_shared<CeresManager>(problem_);
TimeStamp t0(0);
TimeStamp t1(1);