commit | f402c1724765befb37f8b31d4e6c11c0906f03ec | [log] [tgz] |
---|---|---|
author | Sameer Agarwal <sameeragarwal@google.com> | Wed Jul 26 21:03:34 2017 -0700 |
committer | Sameer Agarwal <sameeragarwal@google.com> | Wed Jul 26 21:05:38 2017 -0700 |
tree | fd748f82d25510ebeb6f335247d94a8dd45e63a1 | |
parent | 87f823617e83e066654082dd5d1a7ed07b078b72 [diff] |
InvertPSDMatrix uses dynamic matrices when using SVD The JacobiSVD algorithm in Eigen does not accept fixed sized matrices when performing a thin SVD. The assert enforcing this is only triggered in non-Release builds. So this change calls JacobiSVD with dynamically sized matrices as a template parameter rather than a fixed size matrix. https://github.com/ceres-solver/ceres-solver/issues/304#issuecomment-317965814 Thanks to @debalance for reporting this and @leokoppel for providing a reproduction. Change-Id: Ifc3d9ff20d5597f08c0f8573bf2fd99a3ed3d4d3
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.
Please see ceres-solver.org for more information.
Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.
The upstream Gerrit repository is
https://ceres-solver.googlesource.com/ceres-solver