Fix a bug in the Schur eliminator

The schur eliminator treats rows with e blocks and row with
no e blocks separately. The template specialization logic only
applies to the rows with e blocks.

So, in cases where the rows with e-blocks have a fixed size f-block
but the rows without e-blocks have f-blocks of varying sizes,
DetectStructure will return a static f-block size, but we need to be
careful that we do not blindly use that static f-block size everywhere.

This patch fixes a bug where such care was not being taken, where
it was assumed that the static f-block size could be assumed for all
f-block sizes.

A new test is added, which triggers an exception in debug mode. In
release mode this error does not present itself, due to a peculiarity
of the way Eigen works.

Thanks to Werner Trobin for reporting this bug.

Change-Id: I8ae7aabf8eed8c3f9cf74b6c74d632ba44f82581
7 files changed
tree: a784decda9f5195ac60a8d21017c0efc8073adc1
  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