i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 01:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

fixed ceres tests

Browse Source
This commit is contained in:
matlabbe
2026-05-27 21:51:38 -07:00
parent 0bc0a8cf43
commit 0cd144069c
1 changed files with 5 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/optimizer/OptimizerCeres.cpp
+5 -1
View File
@@ -274,7 +274,11 @@ std::map<int, Transform> OptimizerCeres::optimize(
UINFO("Ceres optimizing begin (iterations=%d)", iterations());
ceres::Solver::Options options;
options.linear_solver_type = ceres::ITERATIVE_SCHUR;
// SPARSE_NORMAL_CHOLESKY is the standard linear solver for
// pose-graph SLAM: the Hessian is a sparse symmetric positive
// definite matrix over pose blocks, which Cholesky factors
// directly and robustly.
options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
options.max_num_iterations = iterations();
options.function_tolerance = this->epsilon();