mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +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
68 lines
3.1 KiB
C++
68 lines
3.1 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
|
|
// Copyright 2015 Google Inc. All rights reserved.
|
|
// http://ceres-solver.org/
|
|
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions are met:
|
|
//
|
|
// * Redistributions of source code must retain the above copyright notice,
|
|
// this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright notice,
|
|
// this list of conditions and the following disclaimer in the documentation
|
|
// and/or other materials provided with the distribution.
|
|
// * Neither the name of Google Inc. nor the names of its contributors may be
|
|
// used to endorse or promote products derived from this software without
|
|
// specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
|
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
|
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
|
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
|
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
|
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
|
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
|
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
|
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
|
// POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Author: sameeragarwal@google.com (Sameer Agarwal)
|
|
|
|
#ifndef CERES_INTERNAL_DETECT_STRUCTURE_H_
|
|
#define CERES_INTERNAL_DETECT_STRUCTURE_H_
|
|
|
|
#include "ceres/block_structure.h"
|
|
|
|
namespace ceres {
|
|
namespace internal {
|
|
|
|
// Detect static blocks in the problem sparsity. For rows containing
|
|
// e_blocks, we are interested in detecting if the size of the row
|
|
// blocks, e_blocks and the f_blocks remain constant. If they do, then
|
|
// we can use template specialization to improve the performance of
|
|
// the block level linear algebra operations used by the
|
|
// SchurEliminator.
|
|
//
|
|
// If a block size is not constant, we return Eigen::Dynamic as the
|
|
// value. This just means that the eliminator uses dynamically sized
|
|
// linear algebra operations rather than static operations whose size
|
|
// is known as compile time.
|
|
//
|
|
// For more details about e_blocks and f_blocks, see
|
|
// schur_eliminator.h. This information is used to initialized an
|
|
// appropriate template specialization of SchurEliminator.
|
|
//
|
|
// Note: The structure of rows without any e-blocks has no effect on
|
|
// the values returned by this function. It is entirely possible that
|
|
// the f_block_size and row_blocks_size is not constant in such rows.
|
|
void DetectStructure(const CompressedRowBlockStructure& bs,
|
|
const int num_eliminate_blocks,
|
|
int* row_block_size,
|
|
int* e_block_size,
|
|
int* f_block_size);
|
|
|
|
} // namespace internal
|
|
} // namespace ceres
|
|
|
|
#endif // CERES_INTERNAL_DETECT_STRUCTURE_H_
|