tree 45c6db5cbe3a7cf89d707613d758747da198ce5a
parent 0cf2d3d207180af6c52af6667caa6c273bd50631
author Sameer Agarwal <sameeragarwal@google.com> 1792453695 -0700
committer Sameer Agarwal <sameeragarwal@google.com> 1792459631 -0700

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