diff options
Diffstat (limited to 'extern/ceres/internal/ceres/block_jacobi_preconditioner.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/block_jacobi_preconditioner.cc | 16 |
1 files changed, 6 insertions, 10 deletions
diff --git a/extern/ceres/internal/ceres/block_jacobi_preconditioner.cc b/extern/ceres/internal/ceres/block_jacobi_preconditioner.cc index 772c7af2ba5..6f37aca553c 100644 --- a/extern/ceres/internal/ceres/block_jacobi_preconditioner.cc +++ b/extern/ceres/internal/ceres/block_jacobi_preconditioner.cc @@ -30,9 +30,9 @@ #include "ceres/block_jacobi_preconditioner.h" +#include "ceres/block_random_access_diagonal_matrix.h" #include "ceres/block_sparse_matrix.h" #include "ceres/block_structure.h" -#include "ceres/block_random_access_diagonal_matrix.h" #include "ceres/casts.h" #include "ceres/internal/eigen.h" @@ -65,13 +65,11 @@ bool BlockJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A, const int col_block_size = bs->cols[block_id].size; int r, c, row_stride, col_stride; - CellInfo* cell_info = m_->GetCell(block_id, block_id, - &r, &c, - &row_stride, &col_stride); + CellInfo* cell_info = + m_->GetCell(block_id, block_id, &r, &c, &row_stride, &col_stride); MatrixRef m(cell_info->values, row_stride, col_stride); - ConstMatrixRef b(values + cells[j].position, - row_block_size, - col_block_size); + ConstMatrixRef b( + values + cells[j].position, row_block_size, col_block_size); m.block(r, c, col_block_size, col_block_size) += b.transpose() * b; } } @@ -82,9 +80,7 @@ bool BlockJacobiPreconditioner::UpdateImpl(const BlockSparseMatrix& A, for (int i = 0; i < bs->cols.size(); ++i) { const int block_size = bs->cols[i].size; int r, c, row_stride, col_stride; - CellInfo* cell_info = m_->GetCell(i, i, - &r, &c, - &row_stride, &col_stride); + CellInfo* cell_info = m_->GetCell(i, i, &r, &c, &row_stride, &col_stride); MatrixRef m(cell_info->values, row_stride, col_stride); m.block(r, c, block_size, block_size).diagonal() += ConstVectorRef(D + position, block_size).array().square().matrix(); |