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ceres-solver / ceres-solver / f402c1724765befb37f8b31d4e6c11c0906f03ec
commitf402c1724765befb37f8b31d4e6c11c0906f03ec[log] [tgz]
authorSameer Agarwal <sameeragarwal@google.com>Wed Jul 26 21:03:34 2017 -0700
committerSameer Agarwal <sameeragarwal@google.com>Wed Jul 26 21:05:38 2017 -0700
treefd748f82d25510ebeb6f335247d94a8dd45e63a1
parent87f823617e83e066654082dd5d1a7ed07b078b72 [diff]
InvertPSDMatrix uses dynamic matrices when using SVD

The JacobiSVD algorithm in Eigen does not accept fixed sized
matrices when performing a thin SVD. The assert enforcing this
is only triggered in non-Release builds.

So this change calls JacobiSVD with dynamically sized matrices
as a template parameter rather than a fixed size matrix.

https://github.com/ceres-solver/ceres-solver/issues/304#issuecomment-317965814

Thanks to @debalance for reporting this and @leokoppel for
providing a reproduction.

Change-Id: Ifc3d9ff20d5597f08c0f8573bf2fd99a3ed3d4d3
1 file changed
tree: fd748f82d25510ebeb6f335247d94a8dd45e63a1
  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. package.xml
  14. README.md
README.md

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.

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