Method solve

src/FactorGraph.cpp:46–61

  {}

  void FactorGraph::solve()
  {
    /** check if config is valid */
    std::string OptionsError;
    if (_SolverOptions.IsValid(&OptionsError) == false)
    {
      PRINT_ERROR("The given solver options are wrong: ", OptionsError);
    }
    else
    {
      /** call ceres to solve the optimization problem */
      ceres::Solve(_SolverOptions, &_Graph, &_Report);
      _SolverDuration += _Report.total_time_in_seconds;
      _SolverIterations += _Report.num_successful_steps + _Report.num_unsuccessful_steps;
    }
  }

  void FactorGraph::solve(ceres::Solver::Options Options)
  {