Constructor.
| 56 | |
| 57 | // Constructor. |
| 58 | Map::Map() : residualCounter_(0) { |
| 59 | ::ceres::Problem::Options problemOptions; |
| 60 | problemOptions.manifold_ownership = ::ceres::Ownership::DO_NOT_TAKE_OWNERSHIP; |
| 61 | problemOptions.loss_function_ownership = ::ceres::Ownership::DO_NOT_TAKE_OWNERSHIP; |
| 62 | problemOptions.cost_function_ownership = ::ceres::Ownership::DO_NOT_TAKE_OWNERSHIP; |
| 63 | // problemOptions.enable_fast_parameter_block_removal = true; |
| 64 | problem_.reset(new ::ceres::Problem(problemOptions)); |
| 65 | // options.linear_solver_ordering = new ::ceres::ParameterBlockOrdering; |
| 66 | |
| 67 | // @Sharmin |
| 68 | // ::ceres::Covariance::Options options_covar; |
| 69 | // options_covar.sparse_linear_algebra_library_type = ::ceres::SparseLinearAlgebraLibraryType::EIGEN_SPARSE; |
| 70 | // options_covar.algorithm_type = ::ceres::AlgorithmType::DENSE_SVD; |
| 71 | |
| 72 | // covarianceCal_(options_covar); |
| 73 | |
| 74 | // END @Sharmin |
| 75 | } |
| 76 | |
| 77 | // Check whether a certain parameter block is part of the map. |
| 78 | bool Map::parameterBlockExists(uint64_t parameterBlockId) const { |