Core Solver - Ceres Solver uses parameter bounds

This isn't the in-built Ceres parameter bounds, but rather the hacky
version that was used for CMinpack, but seems to work very well overall.

Author: david-cattermole

src/mmSolver/adjust/adjust_ceres_lmder.cpp

@@ -226,15 +226,6 @@ bool solve_3d_ceres_lmder(SolverOptions& solverOptions,
         options.logging_type = ::ceres::PER_MINIMIZER_ITERATION;
     }
 
-    // // TODO: Add parameter bounds.
-    // for (int i = 0; i < numberOfParameters; i++) {
-    //     if (paramWeightList[i] < 1.0) {
-    //         // TODO: Set parameter bounds.
-    //         problem.SetParameterLowerBound(param_ptr, i, -1e8);
-    //         problem.SetParameterUpperBound(param_ptr, i, 1e8);
-    //     }
-    // }
-
     ::ceres::Solver::Summary summary;
     ::ceres::Solve(options, &problem, &summary);
 
@@ -256,7 +247,6 @@ bool solve_3d_ceres_lmder(SolverOptions& solverOptions,
 
     if (solveResult.success) {
         // NOTE: Parameters are updated in-place.
-        // errorList = std::vector<double>(numberOfErrors);
         errorList.resize(numberOfErrors);
         cost_function->Evaluate(&param_ptr, errorList.data(), nullptr);
     }

src/mmSolver/adjust/adjust_defines.h

@@ -170,7 +170,7 @@
 // auto-differentiation
 #define CERES_LMDIF_SUPPORT_AUTO_DIFF_FORWARD_VALUE false
 #define CERES_LMDIF_SUPPORT_AUTO_DIFF_CENTRAL_VALUE false
-#define CERES_LMDIF_SUPPORT_PARAMETER_BOUNDS_VALUE false
+#define CERES_LMDIF_SUPPORT_PARAMETER_BOUNDS_VALUE true
 #define CERES_LMDIF_SUPPORT_ROBUST_LOSS_VALUE false
 
 // Ceres Levenberg-Marquardt Solver default flag values, using custom
@@ -190,7 +190,7 @@
 #define CERES_LMDER_ROBUST_LOSS_SCALE_DEFAULT_VALUE (1.0)
 #define CERES_LMDER_SUPPORT_AUTO_DIFF_FORWARD_VALUE true
 #define CERES_LMDER_SUPPORT_AUTO_DIFF_CENTRAL_VALUE true
-#define CERES_LMDER_SUPPORT_PARAMETER_BOUNDS_VALUE false
+#define CERES_LMDER_SUPPORT_PARAMETER_BOUNDS_VALUE true
 #define CERES_LMDER_SUPPORT_ROBUST_LOSS_VALUE false