Google Git
Sign in
ceres-solver / ceres-solver / 4b8c731d8a4f3fda53c642ff14a25fab6c233918
commit4b8c731d8a4f3fda53c642ff14a25fab6c233918[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Fri Jul 31 10:05:52 2020 -0700
committerSameer Agarwal <sameeragarwal@google.com>Fri Jul 31 10:05:52 2020 -0700
tree60379b114e7d3007f6198dcf32cc15b7396574e3
parent5cb5b35a930c1702278083c75769dbb4e5801045 [diff]
Fix a bug in DynamicAutoDiffCostFunction

DynamicAutoDiffCostFunction::Evaluate when provided with a jacobians
array that was non-empty but all its entries are nullptr, would
compute num_active_parameters = 0, and then skip over all the loops
that evaluated the CostFunctor.

The fix is to check if num_active_parameters == 0, and then treat
it as the case where jacobians array is null.

Thanks to Ky Waegel for reporting and providing a reproduction for this.

Change-Id: Ib86930c2c3f722724d249f662bf88238679bbf98
2 files changed
tree: 60379b114e7d3007f6198dcf32cc15b7396574e3
  1. bazel/
  2. cmake/
  3. config/
  4. data/
  5. docs/
  6. examples/
  7. include/
  8. internal/
  9. scripts/
  10. travis/
  11. .clang-format
  12. .gitignore
  13. .travis.yml
  14. BUILD
  15. CMakeLists.txt
  16. CONTRIBUTING.md
  17. LICENSE
  18. package.xml
  19. README.md
  20. WORKSPACE
README.md

Build Status

Ceres Solver

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.

  1. Non-linear Least Squares problems with bounds constraints.
  2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.