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gtsam: Fixed metis linker errors on windows. Ceres: updated default solver options (working for BA and pose-graph optimizations, fixed #966)

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matlabbe
2023-03-19 13:30:52 -07:00
parent 1cb7f3fb87
commit a406c37750
2 changed files with 11 additions and 2 deletions
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7
corelib/src/CMakeLists.txt
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@@ -715,6 +715,13 @@ IF(GTSAM_FOUND)
${LIBRARIES} ${LIBRARIES}
gtsam # Windows: Place static libs at the end gtsam # Windows: Place static libs at the end
) )
IF(WIN32)
#explicitly add metis target on windows (after gtsam target)
SET(LIBRARIES
${LIBRARIES}
metis
)
ENDIF(WIN32)
ENDIF(GTSAM_FOUND) ENDIF(GTSAM_FOUND)
IF(WITH_MADGWICK) IF(WITH_MADGWICK)

6
corelib/src/optimizer/OptimizerCeres.cpp
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@@ -238,8 +238,9 @@ 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;
options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
options.max_num_iterations = iterations(); options.max_num_iterations = iterations();
options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
options.function_tolerance = this->epsilon(); options.function_tolerance = this->epsilon();
ceres::Solver::Summary summary; ceres::Solver::Summary summary;
UTimer timer; UTimer timer;
@@ -457,7 +458,8 @@ std::map<int, Transform> OptimizerCeres::optimizeBA(
// standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower // standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower
// for standard bundle adjustment problems. // for standard bundle adjustment problems.
ceres::Solver::Options options; ceres::Solver::Options options;
options.linear_solver_type = ceres::DENSE_SCHUR; options.linear_solver_type = ceres::ITERATIVE_SCHUR;
options.sparse_linear_algebra_library_type = ceres::SUITE_SPARSE;
options.max_num_iterations = iterations(); options.max_num_iterations = iterations();
//options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY; //options.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
options.function_tolerance = this->epsilon(); options.function_tolerance = this->epsilon();