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ceres-solver / ceres-solver / 6418b33f21d3541f7a9678b29dacd53fcf58ab4f
commit6418b33f21d3541f7a9678b29dacd53fcf58ab4f[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Fri Dec 04 07:26:33 2015 -0800
committerSameer Agarwal <sameeragarwal@google.com>Fri Dec 04 09:51:57 2015 -0800
tree655a0c12f3908299dd76e4a632d8ff8aeedb2b1e
parent992ae55e84901508e352bee102e0de86d4e4cf2f [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
2 files changed
tree: 655a0c12f3908299dd76e4a632d8ff8aeedb2b1e
  1. cmake/
  2. config/
  3. data/
  4. docs/
  5. examples/
  6. include/
  7. internal/
  8. jni/
  9. scripts/
  10. .gitignore
  11. CMakeLists.txt
  12. LICENSE
  13. README.md
README.md

Ceres Solver - A non-linear least squares minimizer

Please see ceres-solver.org for more information.

WARNING - Do not make GitHub pull requests!

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