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https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Sameer Agarwal
4bf3868bec
The schur eliminator treats rows with e blocks and row with no e blocks separately. The template specialization logic only applies to the rows with e blocks. So, in cases where the rows with e-blocks have a fixed size f-block but the rows without e-blocks have f-blocks of varying sizes, DetectStructure will return a static f-block size, but we need to be careful that we do not blindly use that static f-block size everywhere. This patch fixes a bug where such care was not being taken, where it was assumed that the static f-block size could be assumed for all f-block sizes. A new test is added, which triggers an exception in debug mode. In release mode this error does not present itself, due to a peculiarity of the way Eigen works. Thanks to Werner Trobin for reporting this bug. Change-Id: I8ae7aabf8eed8c3f9cf74b6c74d632ba44f82581
86 lines
3.6 KiB
C++
86 lines
3.6 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#ifndef CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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#define CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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#include <string>
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#include <vector>
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#include "ceres/sparse_matrix.h"
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#include "ceres/internal/port.h"
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#include "ceres/internal/scoped_ptr.h"
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namespace ceres {
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namespace internal {
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// Structure defining a linear least squares problem and if possible
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// ground truth solutions. To be used by various LinearSolver tests.
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struct LinearLeastSquaresProblem {
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LinearLeastSquaresProblem()
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: A(NULL), b(NULL), D(NULL), num_eliminate_blocks(0),
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x(NULL), x_D(NULL) {
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}
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scoped_ptr<SparseMatrix> A;
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scoped_array<double> b;
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scoped_array<double> D;
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// If using the schur eliminator then how many of the variable
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// blocks are e_type blocks.
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int num_eliminate_blocks;
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// Solution to min_x |Ax - b|^2
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scoped_array<double> x;
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// Solution to min_x |Ax - b|^2 + |Dx|^2
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scoped_array<double> x_D;
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};
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// Factories for linear least squares problem.
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LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id);
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LinearLeastSquaresProblem* LinearLeastSquaresProblem0();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem1();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem2();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem3();
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LinearLeastSquaresProblem* LinearLeastSquaresProblem4();
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// Write the linear least squares problem to disk. The exact format
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// depends on dump_format_type.
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bool DumpLinearLeastSquaresProblem(const std::string& filename_base,
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DumpFormatType dump_format_type,
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const SparseMatrix* A,
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const double* D,
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const double* b,
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const double* x,
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int num_eliminate_blocks);
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} // namespace internal
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} // namespace ceres
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#endif // CERES_INTERNAL_LINEAR_LEAST_SQUARES_PROBLEMS_H_
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