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Sameer Agarwal
5f433c8a22
CreateJacobianBlockSparsityTranspose starts with a conservative estimate of the size of the block sparsity pattern of the Jacobian. When the Jacobian has more non-zeros than that, the TripletSparseMatrix being used to store the sparsity has a Reallocate method which allows one to resize the matrix and IF num_nonzeros is set, then the existing values in the array are also copied into the newly allocated memory. Unfortunately the pattern we follow in ceres code is to call set_num_nonzeros after one is done populating the sparsity pattern of a matrix. This does not mix well with Reallocate and results in the matrix having uninitialized memory. This patch fixes this problem and adds a test that verifies the fix. Thanks to Yuliy Schwartzburg for reporting this bug and providing code to reproduce it. Change-Id: I58583714ffaebd880d85af16e3685b2d6ee053e8
Ceres Solver - A non-linear least squares minimizer ================================================== Please see docs/html/index.html for a tutorial and reference.