tree 655a0c12f3908299dd76e4a632d8ff8aeedb2b1e
parent 992ae55e84901508e352bee102e0de86d4e4cf2f
author Sameer Agarwal <sameeragarwal@google.com> 1449242793 -0800
committer Sameer Agarwal <sameeragarwal@google.com> 1449251517 -0800

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