tree b5b2268d65076a099f8f816b784b6f32d8f9e53a
parent 74762b60332d4a1c08ec5aef75ec718da9d305a2
author Alex Stewart <alexs.mac@gmail.com> 1395833771 +0000
committer Alex Stewart <alexs.mac@gmail.com> 1395856176 +0000

Check validity of residual block before removal in RemoveResidualBlock.

- Breaking change: Problem::Options::enable_fast_parameter_block_removal
  is now Problem::Options::enable_fast_removal, as it now controls
  the behaviour for both parameter and residual blocks.

- Previously we did not check that the specified residual block to
  remove in RemoveResidualBlock actually represented a valid residual
  for the problem.
- This meant that Ceres would die unexpectedly if the user passed an
  uninitialised residual_block, or more likely attempted to remove a
  residual block that had already been removed automatically after
  the user removed a parameter block upon on which it was dependent.
- RemoveResidualBlock now verifies the validity of the given
  residual_block to remove.  Either by checking against a hash set of
  all residuals maintained in ProblemImpl iff enable_fast_removal
  is enabled.  Or by a full scan of the residual blocks if not.

Change-Id: I9ab178e2f68a74135f0a8e20905b16405c77a62b