SetParameterBlockConstant makes MinParameterBlock function to fail about ceres-solver HOT 5 CLOSED

Comment #1 originally posted by sandwichmaker on 2012-05-14T20:02:48.000Z:

Thanks for the bug report. This does look like a problem. Keir and I are looking into this.

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Comment #2 originally posted by sandwichmaker on 2012-05-14T20:04:54.000Z:

Here is the crash report for reproduction.

diff --git a/examples/simple_bundle_adjuster.cc b/examples/simple_bundle_adjuster.cc
index 16c2dde..de675cd 100644
--- a/examples/simple_bundle_adjuster.cc
+++ b/examples/simple_bundle_adjuster.cc
@@ -196,6 +196,8 @@ int main(int argc, char** argv) {
bal_problem.mutable_point_for_observation(i));
}

• problem.SetParameterBlockConstant(bal_problem.mutable_camera_for_observation(2));

// Make Ceres automatically detect the bundle structure. Note that the
// standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower
// for standard bundle adjustment problems.
build: ./examples/simple_bundle_adjuster ../data/problem-16-22106-pre.txt
F0514 13:04:12.085523 1893997760 solver_impl.cc:629] Check failed: offsets.back() == residual_blocks->size() (76733 vs. 83718) Congratulations, you found a Ceres bug! Please report this error to the developers.
*** Check failure stack trace: ***
@ 0x10018abf4 google::LogMessage::SendToLog()
@ 0x100188014 google::LogMessage::Flush()
@ 0x10018812e google::LogMessageFatal::~LogMessageFatal()
@ 0x100188151 google::LogMessageFatal::~LogMessageFatal()
@ 0x1000586ba ceres::internal::SolverImpl::MaybeReorderResidualBlocks()
@ 0x10005924e ceres::internal::SolverImpl::Solve()
@ 0x100056039 ceres::Solve()
@ 0x100005b53 main
@ 0x1000031a8 start
@ 0x2 (unknown)
Abort trap

I think the reordering code is not accounting for constant parameter blocks correctly.

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Comment #3 originally posted by sandwichmaker on 2012-05-14T20:06:17.000Z:

Yes, this is definitely our bug.

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Comment #4 originally posted by sandwichmaker on 2012-05-14T20:47:49.000Z:

I have a fix; will have the fix and a test in a few minutes.

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Comment #5 originally posted by sandwichmaker on 2012-05-14T21:45:51.000Z:

Fixed in 32de18d.

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