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Remove two DCHECKs from CubicHermiteSpline.

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They were present as debugging checks but were causing problems
with the build on 32bit i386 due to numerical cancellation issues,
where x ~ -epsilon.

Removing these checks only changes the behaviour in Debug mode.
We are already handling such small negative numbers in production
if they occur. All that this change does is to remove the crash.

https://github.com/ceres-solver/ceres-solver/issues/212

Thanks to @NeroBurner and @debalance for reporting this.

Change-Id: I66480e86d4fa0a4b621204f2ff44cc3ff8d01c04
This commit is contained in:
Sameer Agarwal
2016-09-06 07:12:23 -07:00
parent 83041ac84f
commit 195d8d13a6
1 changed files with 0 additions and 2 deletions
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include/ceres/cubic_interpolation.h
-2
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@@ -69,8 +69,6 @@ void CubicHermiteSpline(const Eigen::Matrix<double, kDataDimension, 1>& p0,
const double x,
double* f,
double* dfdx) {
DCHECK_GE(x, 0.0);
DCHECK_LE(x, 1.0);
typedef Eigen::Matrix<double, kDataDimension, 1> VType;
const VType a = 0.5 * (-p0 + 3.0 * p1 - 3.0 * p2 + p3);
const VType b = 0.5 * (2.0 * p0 - 5.0 * p1 + 4.0 * p2 - p3);