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| author | Scott Ettinger <settinger@google.com> | 2013-09-09 12:54:43 -0700 |
|---|---|---|
| committer | Scott Ettinger <settinger@google.com> | 2013-09-10 00:29:21 +0000 |
| commit | 399f7d09e0c45af54b77b4ab9508d6f23759b927 (patch) | |
| tree | abf3b5ab8259679fb37a8e20308e8cd2a8cd439c /internal/ceres/iterative_schur_complement_solver.cc | |
| parent | 1d2624a10e2c559f8ba9ef89eaa30832c0a83a96 (diff) | |
| download | ceres-solver-399f7d09e0c45af54b77b4ab9508d6f23759b927.tar.gz | |
Update Ceres to the latest versionandroid-sdk-4.4.2_r1.0.1android-sdk-4.4.2_r1android-l-preview_r2android-cts-4.4_r4android-cts-4.4_r1android-4.4w_r1android-4.4_r1.2.0.1android-4.4_r1.2android-4.4_r1.1.0.1android-4.4_r1.1android-4.4_r1.0.1android-4.4_r1android-4.4_r0.9android-4.4_r0.8android-4.4_r0.7android-4.4.4_r2.0.1android-4.4.4_r2android-4.4.4_r1.0.1android-4.4.4_r1android-4.4.3_r1.1.0.1android-4.4.3_r1.1android-4.4.3_r1.0.1android-4.4.3_r1android-4.4.2_r2.0.1android-4.4.2_r2android-4.4.2_r1.0.1android-4.4.2_r1android-4.4.1_r1.0.1android-4.4.1_r1l-previewkitkat-wearkitkat-releasekitkat-mr2.2-releasekitkat-mr2.1-releasekitkat-mr2-releasekitkat-mr1.1-releasekitkat-mr1-releasekitkat-devkitkat-cts-releasekitkat-cts-devidea133-weekly-releaseidea133
Bug: 10673139
Bug: 10621282
Change-Id: Ib740a6e0e29049cc203da9f083b0d4f5734a2741
Diffstat (limited to 'internal/ceres/iterative_schur_complement_solver.cc')
| -rw-r--r-- | internal/ceres/iterative_schur_complement_solver.cc | 23 |
1 files changed, 17 insertions, 6 deletions
diff --git a/internal/ceres/iterative_schur_complement_solver.cc b/internal/ceres/iterative_schur_complement_solver.cc index d39d7db..1aac565 100644 --- a/internal/ceres/iterative_schur_complement_solver.cc +++ b/internal/ceres/iterative_schur_complement_solver.cc @@ -78,6 +78,17 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( } schur_complement_->Init(*A, per_solve_options.D, b); + const int num_schur_complement_blocks = + A->block_structure()->cols.size() - options_.elimination_groups[0]; + if (num_schur_complement_blocks == 0) { + VLOG(2) << "No parameter blocks left in the schur complement."; + LinearSolver::Summary cg_summary; + cg_summary.num_iterations = 0; + cg_summary.termination_type = TOLERANCE; + schur_complement_->BackSubstitute(NULL, x); + return cg_summary; + } + // Initialize the solution to the Schur complement system to zero. // // TODO(sameeragarwal): There maybe a better initialization than an @@ -97,8 +108,8 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( Preconditioner::Options preconditioner_options; preconditioner_options.type = options_.preconditioner_type; - preconditioner_options.sparse_linear_algebra_library = - options_.sparse_linear_algebra_library; + preconditioner_options.sparse_linear_algebra_library_type = + options_.sparse_linear_algebra_library_type; preconditioner_options.num_threads = options_.num_threads; preconditioner_options.row_block_size = options_.row_block_size; preconditioner_options.e_block_size = options_.e_block_size; @@ -116,16 +127,16 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl( case SCHUR_JACOBI: if (preconditioner_.get() == NULL) { preconditioner_.reset( - new SchurJacobiPreconditioner( - *A->block_structure(), preconditioner_options)); + new SchurJacobiPreconditioner(*A->block_structure(), + preconditioner_options)); } break; case CLUSTER_JACOBI: case CLUSTER_TRIDIAGONAL: if (preconditioner_.get() == NULL) { preconditioner_.reset( - new VisibilityBasedPreconditioner( - *A->block_structure(), preconditioner_options)); + new VisibilityBasedPreconditioner(*A->block_structure(), + preconditioner_options)); } break; default: |