saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-30 00:50:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Integrate InvertPSDMatrix into the SchurEliminator.

Browse Source 
SchurEliminator::Init now takes a bool that tells it whether
it can assume that the diagonal blocks it is inverting can
be assumed to be full rank or not.

This information is then passed onto InvertPSDMatrix.

Change-Id: I26037b6233f2aad5584fed245f631c3959928afe
This commit is contained in:
Sameer Agarwal
2017-04-09 00:45:12 -07:00
parent aaae5c5f62
commit 0859fe8a57
7 changed files with 31 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/implicit_schur_complement_test.cc
+2 -1
View File
@@ -89,7 +89,8 @@ class ImplicitSchurComplementTest : public ::testing::Test {
scoped_ptr<SchurEliminatorBase> eliminator(
SchurEliminatorBase::Create(options));
CHECK_NOTNULL(eliminator.get());
eliminator->Init(num_eliminate_blocks_, bs);
const bool kFullRankETE = true;
eliminator->Init(num_eliminate_blocks_, kFullRankETE, bs);
lhs->resize(num_schur_rows, num_schur_rows);
rhs->resize(num_schur_rows);