commit | 6418b33f21d3541f7a9678b29dacd53fcf58ab4f | [log] [tgz] |
---|---|---|
author | Sameer Agarwal <sameeragarwal@google.com> | Fri Dec 04 07:26:33 2015 -0800 |
committer | Sameer Agarwal <sameeragarwal@google.com> | Fri Dec 04 09:51:57 2015 -0800 |
tree | 655a0c12f3908299dd76e4a632d8ff8aeedb2b1e | |
parent | 992ae55e84901508e352bee102e0de86d4e4cf2f [diff] |
Fix free parameter block handling in covariance computation Parameter blocks that are not associated with any residual block lead to structurally zero columns in the Jacobian. The covariance computation algorithm was only paying attention to structural sparsity caused by constant parameter blocks but not free parameter blocks. This patch fixes this, by iterating over the residual blocks in the problem and collecting all the parameter blocks in use. The tests for ComputeCovarianceSparsity are also extended to include the case where there are constant and free parameter blocks. Thanks to Wannes Van Loock for reporting this. Change-Id: Ic298a6e93c53f2f95fb69105397a87200738a2b0
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