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ceres-solver/ceres-solver/ac7b33d0fc31bad9f71b813ea5f46a3f8216d783
commit
ac7b33d0fc31bad9f71b813ea5f46a3f8216d783
[log]
author
Nathan Chandrasekar <nathan@donmakino.com>
Wed Oct 14 02:41:54 2026 +0000
committer
Nathan Chandrasekar <nathan@donmakino.com>
Thu Oct 15 20:29:43 2026 -0400
tree
8eeeabdee24b61dc3ce471754b7748e952c150b4
parent
dd4199f718d27cf92eaf259ce52dca0abd0b9626 [diff] 
Fix covariance truncation for wide Jacobians

Count null_space_rank against the number of Jacobian columns so that
zero modes omitted by the thin SVD are dropped before retained modes.

Add a regression for a one-row, two-column Jacobian with nullity one.
The existing covariance suite and the reported reproducer pass.

Fixes #1214

Change-Id: I281baac50987a0a5780b6726f195c0b959f6747e
2 files changed
tree: 8eeeabdee24b61dc3ce471754b7748e952c150b4
  1. .github/
  2. bazel/
  3. cmake/
  4. config/
  5. data/
  6. docs/
  7. examples/
  8. include/
  9. internal/
  10. LICENSES/
  11. scripts/
  12. third_party/
  13. .bazelignore
  14. .clang-format
  15. .gitignore
  16. .gitmodules
  17. .readthedocs.yaml
  18. BUILD
  19. CITATION.cff
  20. CMakeLists.txt
  21. CONTRIBUTING.md
  22. LICENSE
  23. MODULE.bazel
  24. package.xml
  25. README.md
  26. REUSE.toml
  27. WORKSPACE
README.md

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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.