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Fix a bug in DynamicAutoDiffCostFunction

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DynamicAutoDiffCostFunction::Evaluate when provided with a jacobians
array that was non-empty but all its entries are nullptr, would
compute num_active_parameters = 0, and then skip over all the loops
that evaluated the CostFunctor.

The fix is to check if num_active_parameters == 0, and then treat
it as the case where jacobians array is null.

Thanks to Ky Waegel for reporting and providing a reproduction for this.

Change-Id: Ib86930c2c3f722724d249f662bf88238679bbf98
This commit is contained in:
Sameer Agarwal
2020-07-31 10:05:52 -07:00
parent 5cb5b35a93
commit 4b8c731d8a
2 changed files with 49 additions and 0 deletions
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include/ceres/dynamic_autodiff_cost_function.h
+3
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@@ -151,6 +151,9 @@ class DynamicAutoDiffCostFunction : public DynamicCostFunction {
}
}
if (num_active_parameters == 0) {
return (*functor_)(parameters, residuals);
}
// When `num_active_parameters % Stride != 0` then it can be the case
// that `active_parameter_count < Stride` while parameter_cursor is less
// than the total number of parameters and with no remaining non-constant