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ceres-solver/ceres-solver/07a952622c2118433c783b1c3bd3fabe68420fc5
commit
07a952622c2118433c783b1c3bd3fabe68420fc5
[log]
author
Sameer Agarwal <sameeragarwal@google.com>
Mon Oct 19 16:48:15 2026 -0700
committer
Sameer Agarwal <sameeragarwal@google.com>
Mon Oct 19 18:27:11 2026 -0700
tree
45c6db5cbe3a7cf89d707613d758747da198ce5a
parent
0cf2d3d207180af6c52af6667caa6c273bd50631 [diff] 
Back-substitute on NO_CONVERGENCE in SchurComplementSolver

When ITERATIVE_SCHUR is used with use_explicit_schur_complement = true, ExplicitSchurComplementSolver inherits from SchurComplementSolver. Previously, SchurComplementSolver::SolveImpl only performed back-substitution when SolveReducedLinearSystem returned SUCCESS. When ConjugateGradientsSolver hit max_num_iterations and returned NO_CONVERGENCE, the eliminated parameter blocks were left at zero instead of being back-substituted from the approximate reduced solution, unlike IterativeSchurComplementSolver.

Thanks to @1784174022-ops for reporting this.

Fixes https://github.com/ceres-solver/ceres-solver/issues/1215

Change-Id: Ic879f1d6ad429d0ee054f8101c13a858d53b02c4
2 files changed
tree: 45c6db5cbe3a7cf89d707613d758747da198ce5a
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. LICENSES/
  11. scripts/
  12. third_party/
  13. .bazelignore
  14. .clang-format
  15. .gitignore
  16. .gitmodules
  17. .readthedocs.yaml
  18. BUILD
  19. CITATION.cff
  20. CMakeLists.txt
  21. CONTRIBUTING.md
  22. LICENSE
  23. MODULE.bazel
  24. package.xml
  25. README.md
  26. REUSE.toml
  27. WORKSPACE
README.md

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Ceres Solver

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.