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CompressedRowSparseMatrix::AppendRows and DeleteRows bugfix.

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CompressedRowSparseMatrix can store the row and column block structure
but the AppendRows and DeleteRows methods did not pay attention to them.
This meant that it was possible to get to a CompressedRowSparseMatrix
whose block structure did not match the contents of the matrix.

This change fixes this problem.

Change-Id: I1b3c807fc03d8c049ee20511e2bc62806d211b81
This commit is contained in:
Sameer Agarwal
2013-12-20 15:22:26 -08:00
parent 27bb4a8589
commit 2b16b0080b
3 changed files with 93 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/sparse_normal_cholesky_solver.cc
+18 -4
View File
@@ -112,8 +112,15 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingCXSparse(
if (per_solve_options.D != NULL) {
// Temporarily append a diagonal block to the A matrix, but undo
// it before returning the matrix to the user.
CompressedRowSparseMatrix D(per_solve_options.D, num_cols);
A->AppendRows(D);
scoped_ptr<CompressedRowSparseMatrix> regularizer;
if (A->col_blocks().size() > 0) {
regularizer.reset(CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
per_solve_options.D, A->col_blocks()));
} else {
regularizer.reset(new CompressedRowSparseMatrix(
per_solve_options.D, num_cols));
}
A->AppendRows(*regularizer);
}
VectorRef(x, num_cols).setZero();
@@ -196,8 +203,15 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
if (per_solve_options.D != NULL) {
// Temporarily append a diagonal block to the A matrix, but undo
// it before returning the matrix to the user.
CompressedRowSparseMatrix D(per_solve_options.D, num_cols);
A->AppendRows(D);
scoped_ptr<CompressedRowSparseMatrix> regularizer;
if (A->col_blocks().size() > 0) {
regularizer.reset(CompressedRowSparseMatrix::CreateBlockDiagonalMatrix(
per_solve_options.D, A->col_blocks()));
} else {
regularizer.reset(new CompressedRowSparseMatrix(
per_solve_options.D, num_cols));
}
A->AppendRows(*regularizer);
}
VectorRef(x, num_cols).setZero();