diff options
Diffstat (limited to 'extern/ceres/internal/ceres/polynomial.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/polynomial.cc | 18 |
1 files changed, 7 insertions, 11 deletions
diff --git a/extern/ceres/internal/ceres/polynomial.cc b/extern/ceres/internal/ceres/polynomial.cc index 13bf8edeee6..20812f4de81 100644 --- a/extern/ceres/internal/ceres/polynomial.cc +++ b/extern/ceres/internal/ceres/polynomial.cc @@ -36,14 +36,13 @@ #include <vector> #include "Eigen/Dense" +#include "ceres/function_sample.h" #include "ceres/internal/port.h" -#include "ceres/stringprintf.h" #include "glog/logging.h" namespace ceres { namespace internal { -using std::string; using std::vector; namespace { @@ -53,7 +52,7 @@ namespace { // In: Numerische Mathematik, Volume 13, Number 4 (1969), 293-304, // Springer Berlin / Heidelberg. DOI: 10.1007/BF02165404 void BalanceCompanionMatrix(Matrix* companion_matrix_ptr) { - CHECK_NOTNULL(companion_matrix_ptr); + CHECK(companion_matrix_ptr != nullptr); Matrix& companion_matrix = *companion_matrix_ptr; Matrix companion_matrix_offdiagonal = companion_matrix; companion_matrix_offdiagonal.diagonal().setZero(); @@ -105,7 +104,7 @@ void BalanceCompanionMatrix(Matrix* companion_matrix_ptr) { void BuildCompanionMatrix(const Vector& polynomial, Matrix* companion_matrix_ptr) { - CHECK_NOTNULL(companion_matrix_ptr); + CHECK(companion_matrix_ptr != nullptr); Matrix& companion_matrix = *companion_matrix_ptr; const int degree = polynomial.size() - 1; @@ -327,12 +326,6 @@ void MinimizePolynomial(const Vector& polynomial, } } -string FunctionSample::ToDebugString() const { - return StringPrintf("[x: %.8e, value: %.8e, gradient: %.8e, " - "value_is_valid: %d, gradient_is_valid: %d]", - x, value, gradient, value_is_valid, gradient_is_valid); -} - Vector FindInterpolatingPolynomial(const vector<FunctionSample>& samples) { const int num_samples = samples.size(); int num_constraints = 0; @@ -370,7 +363,10 @@ Vector FindInterpolatingPolynomial(const vector<FunctionSample>& samples) { } } - return lhs.fullPivLu().solve(rhs); + // TODO(sameeragarwal): This is a hack. + // https://github.com/ceres-solver/ceres-solver/issues/248 + Eigen::FullPivLU<Matrix> lu(lhs); + return lu.setThreshold(0.0).solve(rhs); } void MinimizeInterpolatingPolynomial(const vector<FunctionSample>& samples, |