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Use to Ceres Solver 2.1 #21

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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -52,7 +52,7 @@ list(APPEND CMAKE_PREFIX_PATH ${CMAKE_SOURCE_DIR}/externals/install)
find_package(Eigen3 3.3.5 REQUIRED NO_MODULE)

# Ceres to solve the NLS problem
find_package(Ceres 2.0 REQUIRED)
find_package(Ceres 2.1 REQUIRED)

# Simple multi-threading
set(CMAKE_THREAD_PREFER_PTHREAD ON)
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2 changes: 1 addition & 1 deletion externals/ceres-solver
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Submodule ceres-solver updated from 399cda to f68321
3 changes: 2 additions & 1 deletion include/FactorGraph.h
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Expand Up @@ -439,7 +439,8 @@ namespace libRSF
/** default settings for new ceres::Problems, especially enable_fast_removal = true */
const ceres::Problem::Options DefaultProblemOptions_ = {ceres::Ownership::TAKE_OWNERSHIP, // cost_function_ownership
ceres::Ownership::TAKE_OWNERSHIP, // loss_function_ownership
ceres::Ownership::TAKE_OWNERSHIP, // local_parameterization_ownership
ceres::Ownership::TAKE_OWNERSHIP, // local_parameterization_ownership (deprecated in 2.1)
ceres::Ownership::TAKE_OWNERSHIP, // manifold_ownership (new in 2.1)
true, // enable_fast_removal
false, // disable_all_safety_checks
nullptr, // context
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2 changes: 1 addition & 1 deletion include/error_models/MaxMixture.h
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Expand Up @@ -93,7 +93,7 @@ namespace libRSF
sqrt(ceres::fmax(-2.0 * T(log(Mixture_.template getLinearPartOfComponent<T>(nComponent, RawError) / Normalization_)), T(1e-10)));/** fmax() is required to handle numeric tolerances */

/** keep only the most likely component */
if(ErrorShadow.squaredNorm() < Loglike || ceres::IsNaN(Loglike))
if(ErrorShadow.squaredNorm() < Loglike || ceres::isnan(Loglike))
{
Loglike = ErrorShadow.squaredNorm();
ErrorShadowBest = ErrorShadow;
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2 changes: 1 addition & 1 deletion src/FactorGraph.cpp
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Expand Up @@ -283,7 +283,7 @@ namespace libRSF
StateData_.getElement(State.ID, State.Timestamp, State.Number).getMeanPointer());

/** compute size of the marginalized system */
MarginalSize += Graph_.ParameterBlockLocalSize(MarginalStates.back());
MarginalSize += Graph_.ParameterBlockTangentSize(MarginalStates.back());
}

/** get connected states */
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2 changes: 1 addition & 1 deletion src/FactorGraphStructure.cpp
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Expand Up @@ -97,7 +97,7 @@ namespace libRSF
{
ConnectedStates.emplace_back(State);
StateDims.emplace_back(Graph_->ParameterBlockSize(State));
StateDimsLocal.emplace_back(Graph_->ParameterBlockLocalSize(State));
StateDimsLocal.emplace_back(Graph_->ParameterBlockTangentSize(State));

/** find state info */
StateInfo Info = States_.at(State);
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