Fix Eigen error in 2D sphere manifolds
Since Eigen does not allow to have a RowMajor column vector (see
https://gitlab.com/libeigen/eigen/-/issues/416), the storage order
must be set to ColMajor in that case. This fix adds that special
case when generating 2D sphere manifolds.
Change-Id: I594932e0dafc878e0b348f72524478588e61b34d
diff --git a/include/ceres/sphere_manifold.h b/include/ceres/sphere_manifold.h
index 5d71cbb..1189c11 100644
--- a/include/ceres/sphere_manifold.h
+++ b/include/ceres/sphere_manifold.h
@@ -114,12 +114,17 @@
static constexpr int TangentSpaceDimension =
AmbientSpaceDimension > 0 ? AmbientSpaceDimension - 1 : Eigen::Dynamic;
+ // NOTE: Eigen does not allow to have a RowMajor column vector.
+ // In that case, change the storage order
+ static constexpr int SafeRowMajor =
+ TangentSpaceDimension == 1 ? Eigen::ColMajor : Eigen::RowMajor;
+
using AmbientVector = Eigen::Matrix<double, AmbientSpaceDimension, 1>;
using TangentVector = Eigen::Matrix<double, TangentSpaceDimension, 1>;
using MatrixPlusJacobian = Eigen::Matrix<double,
AmbientSpaceDimension,
TangentSpaceDimension,
- Eigen::RowMajor>;
+ SafeRowMajor>;
using MatrixMinusJacobian = Eigen::Matrix<double,
TangentSpaceDimension,
AmbientSpaceDimension,
