GradientCheckingProblem's parameter blocks are initialized correctly.
Ensure that when a new problem object is constructed for validing
gradients, the parameter blocks have their data pointers point to
the user's parameter blocks.
We used to do this inside solver_impl.cc, but doing this at
construction is the right thing to do.
Change-Id: I3bfdc89bb0027c8d67cde937e8f2fa385d89c30c
diff --git a/internal/ceres/gradient_checking_cost_function.cc b/internal/ceres/gradient_checking_cost_function.cc
index bca22e6..3272848 100644
--- a/internal/ceres/gradient_checking_cost_function.cc
+++ b/internal/ceres/gradient_checking_cost_function.cc
@@ -310,6 +310,17 @@
parameter_blocks);
}
+ // Normally, when a problem is given to the solver, we guarantee
+ // that the state pointers for each parameter block point to the
+ // user provided data. Since we are creating this new problem from a
+ // problem given to us at an arbitrary stage of the solve, we cannot
+ // depend on this being the case, so we explicitly call
+ // SetParameterBlockStatePtrsToUserStatePtrs to ensure that this is
+ // the case.
+ gradient_checking_problem_impl
+ ->mutable_program()
+ ->SetParameterBlockStatePtrsToUserStatePtrs();
+
return gradient_checking_problem_impl;
}
