gtsam: Fixed metis linker errors on windows. Ceres: updated default s…

…olver options (working for BA and pose-graph optimizations, fixed #966)
introlab · Mar 19, 2023 · a406c37 · a406c37
1 parent 1cb7f3f
commit a406c37
Show file tree

Hide file tree

Showing 2 changed files with 11 additions and 2 deletions.
diff --git a/corelib/src/CMakeLists.txt b/corelib/src/CMakeLists.txt
@@ -715,6 +715,13 @@ IF(GTSAM_FOUND)
 		${LIBRARIES}
 		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)
 
 IF(WITH_MADGWICK)

diff --git a/corelib/src/optimizer/OptimizerCeres.cpp b/corelib/src/optimizer/OptimizerCeres.cpp
@@ -238,8 +238,9 @@ std::map<int, Transform> OptimizerCeres::optimize(
 		UINFO("Ceres optimizing begin (iterations=%d)", iterations());
 
 		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.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
 		options.function_tolerance = this->epsilon();
 		ceres::Solver::Summary summary;
 		UTimer timer;
@@ -457,7 +458,8 @@ std::map<int, Transform> OptimizerCeres::optimizeBA(
 	// standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower
 	// for standard bundle adjustment problems.
 	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.linear_solver_type = ceres::SPARSE_NORMAL_CHOLESKY;
 	options.function_tolerance = this->epsilon();