diff options
Diffstat (limited to 'extern/ceres/internal/ceres/block_random_access_sparse_matrix.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/block_random_access_sparse_matrix.cc | 15 |
1 files changed, 8 insertions, 7 deletions
diff --git a/extern/ceres/internal/ceres/block_random_access_sparse_matrix.cc b/extern/ceres/internal/ceres/block_random_access_sparse_matrix.cc index c28b7cef3f4..a026daa5dac 100644 --- a/extern/ceres/internal/ceres/block_random_access_sparse_matrix.cc +++ b/extern/ceres/internal/ceres/block_random_access_sparse_matrix.cc @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2015 Google Inc. All rights reserved. +// Copyright 2022 Google Inc. All rights reserved. // http://ceres-solver.org/ // // Redistribution and use in source and binary forms, with or without @@ -36,7 +36,7 @@ #include <utility> #include <vector> -#include "ceres/internal/port.h" +#include "ceres/internal/export.h" #include "ceres/triplet_sparse_matrix.h" #include "ceres/types.h" #include "glog/logging.h" @@ -58,9 +58,9 @@ BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix( // rows/columns. int num_cols = 0; block_positions_.reserve(blocks_.size()); - for (int i = 0; i < blocks_.size(); ++i) { + for (int block_size : blocks_) { block_positions_.push_back(num_cols); - num_cols += blocks_[i]; + num_cols += block_size; } // Count the number of scalar non-zero entries and build the layout @@ -76,7 +76,8 @@ BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix( VLOG(1) << "Matrix Size [" << num_cols << "," << num_cols << "] " << num_nonzeros; - tsm_.reset(new TripletSparseMatrix(num_cols, num_cols, num_nonzeros)); + tsm_ = + std::make_unique<TripletSparseMatrix>(num_cols, num_cols, num_nonzeros); tsm_->set_num_nonzeros(num_nonzeros); int* rows = tsm_->mutable_rows(); int* cols = tsm_->mutable_cols(); @@ -86,7 +87,7 @@ BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix( for (const auto& block_pair : block_pairs) { const int row_block_size = blocks_[block_pair.first]; const int col_block_size = blocks_[block_pair.second]; - cell_values_.push_back(make_pair(block_pair, values + pos)); + cell_values_.emplace_back(block_pair, values + pos); layout_[IntPairToLong(block_pair.first, block_pair.second)] = new CellInfo(values + pos); pos += row_block_size * col_block_size; @@ -129,7 +130,7 @@ CellInfo* BlockRandomAccessSparseMatrix::GetCell(int row_block_id, const LayoutType::iterator it = layout_.find(IntPairToLong(row_block_id, col_block_id)); if (it == layout_.end()) { - return NULL; + return nullptr; } // Each cell is stored contiguously as its own little dense matrix. |