commit 6ad9b8e2ae66c9009441d0f9304486ec8dfa9a6a
author Sameer Agarwal <sameeragarwal@google.com> Tue Sep 09 14:29:28 2014 -0700
committer Sameer Agarwal <sameeragarwal@google.com> Tue Sep 09 14:29:28 2014 -0700
tree f3cd9b6b5eb047917315316ea2315277b2459dc9
parent 7e43460d42e20be1ba13121655dbbfd0d1c751ae

Ignore row/column blocks structure when using dynamic sparsity

The row/column blocks can be huge when using dynamic sparsity. This
can result in very large memory usage when augmenting the jacobian
with the LM diagonal.

Thanks to Mingsong Dou for reporting this.

Change-Id: I6aa140ceefa98389ae17958f89ca76e0c76f95b8

internal/ceres/dynamic_compressed_row_jacobian_writer.cc

diff --git a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
index 2f01617..b46cb79 100644
--- a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
+++ b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
@@ -54,8 +54,15 @@
                                            num_effective_parameters,
                                            0);
 
-  CompressedRowJacobianWriter::PopulateJacobianRowAndColumnBlockVectors(
-      program_, jacobian);
+  vector<int>* row_blocks = jacobian->mutable_row_blocks();
+  for (int i = 0; i < jacobian->num_rows(); ++i) {
+    row_blocks->push_back(1);
+  }
+
+  vector<int>* col_blocks = jacobian->mutable_col_blocks();
+  for (int i = 0; i < jacobian->num_cols(); ++i) {
+    col_blocks->push_back(1);
+  }
 
   return jacobian;
 }