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fixed ceres tests

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matlabbe
2026-05-27 21:51:38 -07:00
parent 0bc0a8cf43
commit 0cd144069c
1 changed files with 5 additions and 1 deletions
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corelib/src/optimizer/OptimizerCeres.cpp
+5 -1
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@@ -274,7 +274,11 @@ std::map<int, Transform> OptimizerCeres::optimize(
UINFO("Ceres optimizing begin (iterations=%d)", iterations()); UINFO("Ceres optimizing begin (iterations=%d)", iterations());
ceres::Solver::Options options; 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.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
options.max_num_iterations = iterations(); options.max_num_iterations = iterations();
options.function_tolerance = this->epsilon(); options.function_tolerance = this->epsilon();