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
5 files changed
