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Diffstat (limited to 'extern/ceres/internal/ceres/block_sparse_matrix.cc')
-rw-r--r--extern/ceres/internal/ceres/block_sparse_matrix.cc86
1 files changed, 43 insertions, 43 deletions
diff --git a/extern/ceres/internal/ceres/block_sparse_matrix.cc b/extern/ceres/internal/ceres/block_sparse_matrix.cc
index 5efd2e1ecfb..31ea39daeea 100644
--- a/extern/ceres/internal/ceres/block_sparse_matrix.cc
+++ b/extern/ceres/internal/ceres/block_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
@@ -32,6 +32,7 @@
#include <algorithm>
#include <cstddef>
+#include <memory>
#include <vector>
#include "ceres/block_structure.h"
@@ -46,8 +47,6 @@ namespace internal {
using std::vector;
-BlockSparseMatrix::~BlockSparseMatrix() {}
-
BlockSparseMatrix::BlockSparseMatrix(
CompressedRowBlockStructure* block_structure)
: num_rows_(0),
@@ -57,8 +56,8 @@ BlockSparseMatrix::BlockSparseMatrix(
CHECK(block_structure_ != nullptr);
// Count the number of columns in the matrix.
- for (int i = 0; i < block_structure_->cols.size(); ++i) {
- num_cols_ += block_structure_->cols[i].size;
+ for (auto& col : block_structure_->cols) {
+ num_cols_ += col.size;
}
// Count the number of non-zero entries and the number of rows in
@@ -68,8 +67,8 @@ BlockSparseMatrix::BlockSparseMatrix(
num_rows_ += row_block_size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
num_nonzeros_ += col_block_size * row_block_size;
}
@@ -80,7 +79,7 @@ BlockSparseMatrix::BlockSparseMatrix(
CHECK_GE(num_nonzeros_, 0);
VLOG(2) << "Allocating values array with " << num_nonzeros_ * sizeof(double)
<< " bytes."; // NOLINT
- values_.reset(new double[num_nonzeros_]);
+ values_ = std::make_unique<double[]>(num_nonzeros_);
max_num_nonzeros_ = num_nonzeros_;
CHECK(values_ != nullptr);
}
@@ -97,12 +96,12 @@ void BlockSparseMatrix::RightMultiply(const double* x, double* y) const {
int row_block_pos = block_structure_->rows[i].block.position;
int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
int col_block_pos = block_structure_->cols[col_block_id].position;
MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
- values_.get() + cells[j].position,
+ values_.get() + cell.position,
row_block_size,
col_block_size,
x + col_block_pos,
@@ -119,12 +118,12 @@ void BlockSparseMatrix::LeftMultiply(const double* x, double* y) const {
int row_block_pos = block_structure_->rows[i].block.position;
int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
int col_block_pos = block_structure_->cols[col_block_id].position;
MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>(
- values_.get() + cells[j].position,
+ values_.get() + cell.position,
row_block_size,
col_block_size,
x + row_block_pos,
@@ -139,12 +138,12 @@ void BlockSparseMatrix::SquaredColumnNorm(double* x) const {
for (int i = 0; i < block_structure_->rows.size(); ++i) {
int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
int col_block_pos = block_structure_->cols[col_block_id].position;
const MatrixRef m(
- values_.get() + cells[j].position, row_block_size, col_block_size);
+ values_.get() + cell.position, row_block_size, col_block_size);
VectorRef(x + col_block_pos, col_block_size) += m.colwise().squaredNorm();
}
}
@@ -156,12 +155,12 @@ void BlockSparseMatrix::ScaleColumns(const double* scale) {
for (int i = 0; i < block_structure_->rows.size(); ++i) {
int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
int col_block_pos = block_structure_->cols[col_block_id].position;
MatrixRef m(
- values_.get() + cells[j].position, row_block_size, col_block_size);
+ values_.get() + cell.position, row_block_size, col_block_size);
m *= ConstVectorRef(scale + col_block_pos, col_block_size).asDiagonal();
}
}
@@ -178,11 +177,11 @@ void BlockSparseMatrix::ToDenseMatrix(Matrix* dense_matrix) const {
int row_block_pos = block_structure_->rows[i].block.position;
int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
int col_block_pos = block_structure_->cols[col_block_id].position;
- int jac_pos = cells[j].position;
+ int jac_pos = cell.position;
m.block(row_block_pos, col_block_pos, row_block_size, col_block_size) +=
MatrixRef(values_.get() + jac_pos, row_block_size, col_block_size);
}
@@ -201,11 +200,11 @@ void BlockSparseMatrix::ToTripletSparseMatrix(
int row_block_pos = block_structure_->rows[i].block.position;
int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ int col_block_id = cell.block_id;
int col_block_size = block_structure_->cols[col_block_id].size;
int col_block_pos = block_structure_->cols[col_block_id].position;
- int jac_pos = cells[j].position;
+ int jac_pos = cell.position;
for (int r = 0; r < row_block_size; ++r) {
for (int c = 0; c < col_block_size; ++c, ++jac_pos) {
matrix->mutable_rows()[jac_pos] = row_block_pos + r;
@@ -230,11 +229,11 @@ void BlockSparseMatrix::ToTextFile(FILE* file) const {
const int row_block_pos = block_structure_->rows[i].block.position;
const int row_block_size = block_structure_->rows[i].block.size;
const vector<Cell>& cells = block_structure_->rows[i].cells;
- for (int j = 0; j < cells.size(); ++j) {
- const int col_block_id = cells[j].block_id;
+ for (const auto& cell : cells) {
+ const int col_block_id = cell.block_id;
const int col_block_size = block_structure_->cols[col_block_id].size;
const int col_block_pos = block_structure_->cols[col_block_id].position;
- int jac_pos = cells[j].position;
+ int jac_pos = cell.position;
for (int r = 0; r < row_block_size; ++r) {
for (int c = 0; c < col_block_size; ++c) {
fprintf(file,
@@ -248,10 +247,10 @@ void BlockSparseMatrix::ToTextFile(FILE* file) const {
}
}
-BlockSparseMatrix* BlockSparseMatrix::CreateDiagonalMatrix(
+std::unique_ptr<BlockSparseMatrix> BlockSparseMatrix::CreateDiagonalMatrix(
const double* diagonal, const std::vector<Block>& column_blocks) {
// Create the block structure for the diagonal matrix.
- CompressedRowBlockStructure* bs = new CompressedRowBlockStructure();
+ auto* bs = new CompressedRowBlockStructure();
bs->cols = column_blocks;
int position = 0;
bs->rows.resize(column_blocks.size(), CompressedRow(1));
@@ -265,13 +264,13 @@ BlockSparseMatrix* BlockSparseMatrix::CreateDiagonalMatrix(
}
// Create the BlockSparseMatrix with the given block structure.
- BlockSparseMatrix* matrix = new BlockSparseMatrix(bs);
+ auto matrix = std::make_unique<BlockSparseMatrix>(bs);
matrix->SetZero();
// Fill the values array of the block sparse matrix.
double* values = matrix->mutable_values();
- for (int i = 0; i < column_blocks.size(); ++i) {
- const int size = column_blocks[i].size;
+ for (const auto& column_block : column_blocks) {
+ const int size = column_block.size;
for (int j = 0; j < size; ++j) {
// (j + 1) * size is compact way of accessing the (j,j) entry.
values[j * (size + 1)] = diagonal[j];
@@ -308,9 +307,10 @@ void BlockSparseMatrix::AppendRows(const BlockSparseMatrix& m) {
}
if (num_nonzeros_ > max_num_nonzeros_) {
- double* new_values = new double[num_nonzeros_];
- std::copy(values_.get(), values_.get() + old_num_nonzeros, new_values);
- values_.reset(new_values);
+ std::unique_ptr<double[]> new_values =
+ std::make_unique<double[]>(num_nonzeros_);
+ std::copy_n(values_.get(), old_num_nonzeros, new_values.get());
+ values_ = std::move(new_values);
max_num_nonzeros_ = num_nonzeros_;
}
@@ -337,7 +337,7 @@ void BlockSparseMatrix::DeleteRowBlocks(const int delta_row_blocks) {
block_structure_->rows.resize(num_row_blocks - delta_row_blocks);
}
-BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
+std::unique_ptr<BlockSparseMatrix> BlockSparseMatrix::CreateRandomMatrix(
const BlockSparseMatrix::RandomMatrixOptions& options) {
CHECK_GT(options.num_row_blocks, 0);
CHECK_GT(options.min_row_block_size, 0);
@@ -346,7 +346,7 @@ BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
CHECK_GT(options.block_density, 0.0);
CHECK_LE(options.block_density, 1.0);
- CompressedRowBlockStructure* bs = new CompressedRowBlockStructure();
+ auto* bs = new CompressedRowBlockStructure();
if (options.col_blocks.empty()) {
CHECK_GT(options.num_col_blocks, 0);
CHECK_GT(options.min_col_block_size, 0);
@@ -360,7 +360,7 @@ BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
const int delta_block_size =
Uniform(options.max_col_block_size - options.min_col_block_size);
const int col_block_size = options.min_col_block_size + delta_block_size;
- bs->cols.push_back(Block(col_block_size, col_block_position));
+ bs->cols.emplace_back(col_block_size, col_block_position);
col_block_position += col_block_size;
}
} else {
@@ -377,7 +377,7 @@ BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
const int delta_block_size =
Uniform(options.max_row_block_size - options.min_row_block_size);
const int row_block_size = options.min_row_block_size + delta_block_size;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = row_block_size;
row.block.position = row_block_position;
@@ -385,7 +385,7 @@ BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
for (int c = 0; c < bs->cols.size(); ++c) {
if (RandDouble() > options.block_density) continue;
- row.cells.push_back(Cell());
+ row.cells.emplace_back();
Cell& cell = row.cells.back();
cell.block_id = c;
cell.position = value_position;
@@ -395,7 +395,7 @@ BlockSparseMatrix* BlockSparseMatrix::CreateRandomMatrix(
}
}
- BlockSparseMatrix* matrix = new BlockSparseMatrix(bs);
+ auto matrix = std::make_unique<BlockSparseMatrix>(bs);
double* values = matrix->mutable_values();
for (int i = 0; i < matrix->num_nonzeros(); ++i) {
values[i] = RandNormal();
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-26 19:24:51 +0300