diff options
Diffstat (limited to 'extern/ceres/internal/ceres/compressed_row_sparse_matrix.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/compressed_row_sparse_matrix.cc | 52 |
1 files changed, 30 insertions, 22 deletions
diff --git a/extern/ceres/internal/ceres/compressed_row_sparse_matrix.cc b/extern/ceres/internal/ceres/compressed_row_sparse_matrix.cc index 900586c2c45..db103d9c0fa 100644 --- a/extern/ceres/internal/ceres/compressed_row_sparse_matrix.cc +++ b/extern/ceres/internal/ceres/compressed_row_sparse_matrix.cc @@ -1,5 +1,5 @@ // Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2017 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 @@ -31,11 +31,12 @@ #include "ceres/compressed_row_sparse_matrix.h" #include <algorithm> +#include <memory> #include <numeric> #include <vector> #include "ceres/crs_matrix.h" -#include "ceres/internal/port.h" +#include "ceres/internal/export.h" #include "ceres/random.h" #include "ceres/triplet_sparse_matrix.h" #include "glog/logging.h" @@ -104,7 +105,7 @@ void TransposeForCompressedRowSparseStructure(const int num_rows, const int c = cols[idx]; const int transpose_idx = transpose_rows[c]++; transpose_cols[transpose_idx] = r; - if (values != NULL && transpose_values != NULL) { + if (values != nullptr && transpose_values != nullptr) { transpose_values[transpose_idx] = values[idx]; } } @@ -174,18 +175,20 @@ CompressedRowSparseMatrix::CompressedRowSparseMatrix(int num_rows, cols_.size() * sizeof(double); // NOLINT } -CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix( +std::unique_ptr<CompressedRowSparseMatrix> +CompressedRowSparseMatrix::FromTripletSparseMatrix( const TripletSparseMatrix& input) { return CompressedRowSparseMatrix::FromTripletSparseMatrix(input, false); } -CompressedRowSparseMatrix* +std::unique_ptr<CompressedRowSparseMatrix> CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed( const TripletSparseMatrix& input) { return CompressedRowSparseMatrix::FromTripletSparseMatrix(input, true); } -CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix( +std::unique_ptr<CompressedRowSparseMatrix> +CompressedRowSparseMatrix::FromTripletSparseMatrix( const TripletSparseMatrix& input, bool transpose) { int num_rows = input.num_rows(); int num_cols = input.num_cols(); @@ -214,8 +217,9 @@ CompressedRowSparseMatrix* CompressedRowSparseMatrix::FromTripletSparseMatrix( input.num_nonzeros() * sizeof(int) + // NOLINT input.num_nonzeros() * sizeof(double)); // NOLINT - CompressedRowSparseMatrix* output = - new CompressedRowSparseMatrix(num_rows, num_cols, input.num_nonzeros()); + std::unique_ptr<CompressedRowSparseMatrix> output = + std::make_unique<CompressedRowSparseMatrix>( + num_rows, num_cols, input.num_nonzeros()); if (num_rows == 0) { // No data to copy. @@ -266,7 +270,7 @@ CompressedRowSparseMatrix::CompressedRowSparseMatrix(const double* diagonal, CHECK_EQ(num_nonzeros(), num_rows); } -CompressedRowSparseMatrix::~CompressedRowSparseMatrix() {} +CompressedRowSparseMatrix::~CompressedRowSparseMatrix() = default; void CompressedRowSparseMatrix::SetZero() { std::fill(values_.begin(), values_.end(), 0); @@ -533,17 +537,19 @@ void CompressedRowSparseMatrix::SetMaxNumNonZeros(int num_nonzeros) { values_.resize(num_nonzeros); } -CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateBlockDiagonalMatrix( +std::unique_ptr<CompressedRowSparseMatrix> +CompressedRowSparseMatrix::CreateBlockDiagonalMatrix( const double* diagonal, const vector<int>& blocks) { int num_rows = 0; int num_nonzeros = 0; - for (int i = 0; i < blocks.size(); ++i) { - num_rows += blocks[i]; - num_nonzeros += blocks[i] * blocks[i]; + for (int block_size : blocks) { + num_rows += block_size; + num_nonzeros += block_size * block_size; } - CompressedRowSparseMatrix* matrix = - new CompressedRowSparseMatrix(num_rows, num_rows, num_nonzeros); + std::unique_ptr<CompressedRowSparseMatrix> matrix = + std::make_unique<CompressedRowSparseMatrix>( + num_rows, num_rows, num_nonzeros); int* rows = matrix->mutable_rows(); int* cols = matrix->mutable_cols(); @@ -552,8 +558,7 @@ CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateBlockDiagonalMatrix( int idx_cursor = 0; int col_cursor = 0; - for (int i = 0; i < blocks.size(); ++i) { - const int block_size = blocks[i]; + for (int block_size : blocks) { for (int r = 0; r < block_size; ++r) { *(rows++) = idx_cursor; values[idx_cursor + r] = diagonal[col_cursor + r]; @@ -573,9 +578,11 @@ CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateBlockDiagonalMatrix( return matrix; } -CompressedRowSparseMatrix* CompressedRowSparseMatrix::Transpose() const { - CompressedRowSparseMatrix* transpose = - new CompressedRowSparseMatrix(num_cols_, num_rows_, num_nonzeros()); +std::unique_ptr<CompressedRowSparseMatrix> +CompressedRowSparseMatrix::Transpose() const { + std::unique_ptr<CompressedRowSparseMatrix> transpose = + std::make_unique<CompressedRowSparseMatrix>( + num_cols_, num_rows_, num_nonzeros()); switch (storage_type_) { case UNSYMMETRIC: @@ -612,7 +619,8 @@ CompressedRowSparseMatrix* CompressedRowSparseMatrix::Transpose() const { return transpose; } -CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateRandomMatrix( +std::unique_ptr<CompressedRowSparseMatrix> +CompressedRowSparseMatrix::CreateRandomMatrix( CompressedRowSparseMatrix::RandomMatrixOptions options) { CHECK_GT(options.num_row_blocks, 0); CHECK_GT(options.min_row_block_size, 0); @@ -714,7 +722,7 @@ CompressedRowSparseMatrix* CompressedRowSparseMatrix::CreateRandomMatrix( const int num_rows = std::accumulate(row_blocks.begin(), row_blocks.end(), 0); const int num_cols = std::accumulate(col_blocks.begin(), col_blocks.end(), 0); const bool kDoNotTranspose = false; - CompressedRowSparseMatrix* matrix = + std::unique_ptr<CompressedRowSparseMatrix> matrix = CompressedRowSparseMatrix::FromTripletSparseMatrix( TripletSparseMatrix( num_rows, num_cols, tsm_rows, tsm_cols, tsm_values), |