saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Modernize InvertPSDMatrix with if constexpr

Browse Source 
Use if constexpr for kSize checks in InvertPSDMatrix to allow for
dead-code elimination at compile time. This ensures that for small
fixed-size matrices, only the inverse() path is compiled, and for
larger or dynamic matrices, only the LLT path is compiled when
assume_full_rank is true.

Change-Id: I4def2faadd080a4defccf1c0527015ae004f20ce
This commit is contained in:
Sameer Agarwal
2026-03-23 11:42:24 -07:00
parent 2f946a582a
commit 87c406d9d0
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/invert_psd_matrix.h
+4 -3
View File
@@ -60,11 +60,12 @@ typename EigenTypes<kSize, kSize>::Matrix InvertPSDMatrix(
//
// https://eigen.tuxfamily.org/dox/group__TutorialLinearAlgebra.html#title3
if (assume_full_rank) {
if (kSize > 0 && kSize < 5) {
if constexpr (kSize > 0 && kSize < 5) {
return m.inverse();
} else {
return m.template selfadjointView<Eigen::Upper>().llt().solve(
MType::Identity(size, size));
}
return m.template selfadjointView<Eigen::Upper>().llt().solve(
MType::Identity(size, size));
}
// For a thin SVD the number of columns of the matrix need to be dynamic.