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Author	SHA1	Message	Date
Sameer Agarwal	f402c17247	InvertPSDMatrix uses dynamic matrices when using SVD The JacobiSVD algorithm in Eigen does not accept fixed sized matrices when performing a thin SVD. The assert enforcing this is only triggered in non-Release builds. So this change calls JacobiSVD with dynamically sized matrices as a template parameter rather than a fixed size matrix. https://github.com/ceres-solver/ceres-solver/issues/304#issuecomment-317965814 Thanks to @debalance for reporting this and @leokoppel for providing a reproduction. Change-Id: Ifc3d9ff20d5597f08c0f8573bf2fd99a3ed3d4d3	2017-07-26 21:05:38 -07:00
Sameer Agarwal	c9abea1fa0	Add InvertPSDMatrix. This helper function lets the user compute the inverse or the pseudo-inverse of a matrix. Change-Id: Ia257859ad901debce2ea19f47907faf0b7b94759	2017-04-25 01:30:44 +00:00

Author

SHA1

Message

Date

Sameer Agarwal

f402c17247

InvertPSDMatrix uses dynamic matrices when using SVD

The JacobiSVD algorithm in Eigen does not accept fixed sized
matrices when performing a thin SVD. The assert enforcing this
is only triggered in non-Release builds.

So this change calls JacobiSVD with dynamically sized matrices
as a template parameter rather than a fixed size matrix.

https://github.com/ceres-solver/ceres-solver/issues/304#issuecomment-317965814

Thanks to @debalance for reporting this and @leokoppel for
providing a reproduction.

Change-Id: Ifc3d9ff20d5597f08c0f8573bf2fd99a3ed3d4d3

2017-07-26 21:05:38 -07:00

Sameer Agarwal

c9abea1fa0

Add InvertPSDMatrix.

This helper function lets the user compute the inverse or
the pseudo-inverse of a matrix.

Change-Id: Ia257859ad901debce2ea19f47907faf0b7b94759

2017-04-25 01:30:44 +00:00

2 Commits