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Fix tiny solver build break

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The solver code must rely on the vectors for
sizing, since not all cost functions will have
NumParameters() or NumResiduals().

Change-Id: Id254ce37507443910edb0064de7907d64558851e
This commit is contained in:
Keir Mierle
2017-10-19 23:46:49 -07:00
parent ba73ce120c
commit dc9bf012c4
1 changed files with 5 additions and 4 deletions
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include/ceres/tiny_solver.h
+5 -4
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@@ -231,13 +231,14 @@ class TinySolver {
Scalar u = options.initial_scale_factor;
Scalar v = 2;
for (int i = 1; summary.status == RUNNING && i < options.max_iterations;
++i) {
summary.iterations = i;
for (summary.iterations = 1;
(summary.status == RUNNING &&
summary.iterations < options.max_iterations);
summary.iterations++) {
jtj_regularized_ = jtj_;
const Scalar min_diagonal = 1e-6;
const Scalar max_diagonal = 1e32;
for (int i = 0; i < function.NumParameters(); ++i) {
for (int i = 0; i < lm_diagonal_.rows(); ++i) {
lm_diagonal_[i] = std::sqrt(
u * std::min(std::max(jtj_(i, i), min_diagonal), max_diagonal));
jtj_regularized_(i, i) += lm_diagonal_[i] * lm_diagonal_[i];