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Diffstat (limited to 'extern/ceres/internal/ceres/linear_least_squares_problems.cc')
-rw-r--r--extern/ceres/internal/ceres/linear_least_squares_problems.cc185
1 files changed, 97 insertions, 88 deletions
diff --git a/extern/ceres/internal/ceres/linear_least_squares_problems.cc b/extern/ceres/internal/ceres/linear_least_squares_problems.cc
index 299051c5bcf..2d415af338f 100644
--- a/extern/ceres/internal/ceres/linear_least_squares_problems.cc
+++ b/extern/ceres/internal/ceres/linear_least_squares_problems.cc
@@ -49,7 +49,8 @@ namespace internal {
using std::string;
-LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id) {
+std::unique_ptr<LinearLeastSquaresProblem>
+CreateLinearLeastSquaresProblemFromId(int id) {
switch (id) {
case 0:
return LinearLeastSquaresProblem0();
@@ -64,7 +65,7 @@ LinearLeastSquaresProblem* CreateLinearLeastSquaresProblemFromId(int id) {
default:
LOG(FATAL) << "Unknown problem id requested " << id;
}
- return NULL;
+ return nullptr;
}
/*
@@ -85,15 +86,16 @@ D = [1
x_D = [1.78448275;
2.82327586;]
*/
-LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
- LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem0() {
+ std::unique_ptr<LinearLeastSquaresProblem> problem =
+ std::make_unique<LinearLeastSquaresProblem>();
- TripletSparseMatrix* A = new TripletSparseMatrix(3, 2, 6);
- problem->b.reset(new double[3]);
- problem->D.reset(new double[2]);
+ auto A = std::make_unique<TripletSparseMatrix>(3, 2, 6);
+ problem->b = std::make_unique<double[]>(3);
+ problem->D = std::make_unique<double[]>(2);
- problem->x.reset(new double[2]);
- problem->x_D.reset(new double[2]);
+ problem->x = std::make_unique<double[]>(2);
+ problem->x_D = std::make_unique<double[]>(2);
int* Ai = A->mutable_rows();
int* Aj = A->mutable_cols();
@@ -115,7 +117,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
Ax[4] = 6;
Ax[5] = -10;
A->set_num_nonzeros(6);
- problem->A.reset(A);
+ problem->A = std::move(A);
problem->b[0] = 8;
problem->b[1] = 18;
@@ -161,7 +163,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
S = [ 42.3419 -1.4000 -11.5806
-1.4000 2.6000 1.0000
- 11.5806 1.0000 31.1935]
+ -11.5806 1.0000 31.1935]
r = [ 4.3032
5.4000
@@ -181,15 +183,16 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem0() {
// BlockSparseMatrix version of this problem.
// TripletSparseMatrix version.
-LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
+std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem1() {
int num_rows = 6;
int num_cols = 5;
- LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
- TripletSparseMatrix* A =
- new TripletSparseMatrix(num_rows, num_cols, num_rows * num_cols);
- problem->b.reset(new double[num_rows]);
- problem->D.reset(new double[num_cols]);
+ std::unique_ptr<LinearLeastSquaresProblem> problem =
+ std::make_unique<LinearLeastSquaresProblem>();
+ auto A = std::make_unique<TripletSparseMatrix>(
+ num_rows, num_cols, num_rows * num_cols);
+ problem->b = std::make_unique<double[]>(num_rows);
+ problem->D = std::make_unique<double[]>(num_cols);
problem->num_eliminate_blocks = 2;
int* rows = A->mutable_rows();
@@ -271,7 +274,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
A->set_num_nonzeros(nnz);
CHECK(A->IsValid());
- problem->A.reset(A);
+ problem->A = std::move(A);
for (int i = 0; i < num_cols; ++i) {
problem->D.get()[i] = 1;
@@ -285,21 +288,23 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem1() {
}
// BlockSparseMatrix version
-LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
+std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem2() {
int num_rows = 6;
int num_cols = 5;
- LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+ std::unique_ptr<LinearLeastSquaresProblem> problem =
+ std::make_unique<LinearLeastSquaresProblem>();
- problem->b.reset(new double[num_rows]);
- problem->D.reset(new double[num_cols]);
+ problem->b = std::make_unique<double[]>(num_rows);
+ problem->D = std::make_unique<double[]>(num_cols);
problem->num_eliminate_blocks = 2;
- CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
- std::unique_ptr<double[]> values(new double[num_rows * num_cols]);
+ auto* bs = new CompressedRowBlockStructure;
+ std::unique_ptr<double[]> values =
+ std::make_unique<double[]>(num_rows * num_cols);
for (int c = 0; c < num_cols; ++c) {
- bs->cols.push_back(Block());
+ bs->cols.emplace_back();
bs->cols.back().size = 1;
bs->cols.back().position = c;
}
@@ -311,12 +316,12 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
values[nnz++] = 1;
values[nnz++] = 2;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 0;
- row.cells.push_back(Cell(0, 0));
- row.cells.push_back(Cell(2, 1));
+ row.cells.emplace_back(0, 0);
+ row.cells.emplace_back(2, 1);
}
// Row 2
@@ -324,12 +329,12 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
values[nnz++] = 3;
values[nnz++] = 4;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 1;
- row.cells.push_back(Cell(0, 2));
- row.cells.push_back(Cell(3, 3));
+ row.cells.emplace_back(0, 2);
+ row.cells.emplace_back(3, 3);
}
// Row 3
@@ -337,12 +342,12 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
values[nnz++] = 5;
values[nnz++] = 6;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 2;
- row.cells.push_back(Cell(1, 4));
- row.cells.push_back(Cell(4, 5));
+ row.cells.emplace_back(1, 4);
+ row.cells.emplace_back(4, 5);
}
// Row 4
@@ -350,12 +355,12 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
values[nnz++] = 7;
values[nnz++] = 8;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 3;
- row.cells.push_back(Cell(1, 6));
- row.cells.push_back(Cell(2, 7));
+ row.cells.emplace_back(1, 6);
+ row.cells.emplace_back(2, 7);
}
// Row 5
@@ -363,12 +368,12 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
values[nnz++] = 9;
values[nnz++] = 1;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 4;
- row.cells.push_back(Cell(1, 8));
- row.cells.push_back(Cell(2, 9));
+ row.cells.emplace_back(1, 8);
+ row.cells.emplace_back(2, 9);
}
// Row 6
@@ -377,16 +382,16 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
values[nnz++] = 1;
values[nnz++] = 1;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 5;
- row.cells.push_back(Cell(2, 10));
- row.cells.push_back(Cell(3, 11));
- row.cells.push_back(Cell(4, 12));
+ row.cells.emplace_back(2, 10);
+ row.cells.emplace_back(3, 11);
+ row.cells.emplace_back(4, 12);
}
- BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ auto A = std::make_unique<BlockSparseMatrix>(bs);
memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
for (int i = 0; i < num_cols; ++i) {
@@ -397,7 +402,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
problem->b.get()[i] = i;
}
- problem->A.reset(A);
+ problem->A = std::move(A);
return problem;
}
@@ -418,21 +423,23 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem2() {
5]
*/
// BlockSparseMatrix version
-LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
+std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem3() {
int num_rows = 5;
int num_cols = 2;
- LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+ std::unique_ptr<LinearLeastSquaresProblem> problem =
+ std::make_unique<LinearLeastSquaresProblem>();
- problem->b.reset(new double[num_rows]);
- problem->D.reset(new double[num_cols]);
+ problem->b = std::make_unique<double[]>(num_rows);
+ problem->D = std::make_unique<double[]>(num_cols);
problem->num_eliminate_blocks = 2;
- CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
- std::unique_ptr<double[]> values(new double[num_rows * num_cols]);
+ auto* bs = new CompressedRowBlockStructure;
+ std::unique_ptr<double[]> values =
+ std::make_unique<double[]>(num_rows * num_cols);
for (int c = 0; c < num_cols; ++c) {
- bs->cols.push_back(Block());
+ bs->cols.emplace_back();
bs->cols.back().size = 1;
bs->cols.back().position = c;
}
@@ -442,54 +449,54 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
// Row 1
{
values[nnz++] = 1;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 0;
- row.cells.push_back(Cell(0, 0));
+ row.cells.emplace_back(0, 0);
}
// Row 2
{
values[nnz++] = 3;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 1;
- row.cells.push_back(Cell(0, 1));
+ row.cells.emplace_back(0, 1);
}
// Row 3
{
values[nnz++] = 5;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 2;
- row.cells.push_back(Cell(1, 2));
+ row.cells.emplace_back(1, 2);
}
// Row 4
{
values[nnz++] = 7;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 3;
- row.cells.push_back(Cell(1, 3));
+ row.cells.emplace_back(1, 3);
}
// Row 5
{
values[nnz++] = 9;
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 4;
- row.cells.push_back(Cell(1, 4));
+ row.cells.emplace_back(1, 4);
}
- BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ auto A = std::make_unique<BlockSparseMatrix>(bs);
memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
for (int i = 0; i < num_cols; ++i) {
@@ -500,7 +507,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
problem->b.get()[i] = i;
}
- problem->A.reset(A);
+ problem->A = std::move(A);
return problem;
}
@@ -525,29 +532,31 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem3() {
//
// NOTE: This problem is too small and rank deficient to be solved without
// the diagonal regularization.
-LinearLeastSquaresProblem* LinearLeastSquaresProblem4() {
+std::unique_ptr<LinearLeastSquaresProblem> LinearLeastSquaresProblem4() {
int num_rows = 3;
int num_cols = 7;
- LinearLeastSquaresProblem* problem = new LinearLeastSquaresProblem;
+ std::unique_ptr<LinearLeastSquaresProblem> problem =
+ std::make_unique<LinearLeastSquaresProblem>();
- problem->b.reset(new double[num_rows]);
- problem->D.reset(new double[num_cols]);
+ problem->b = std::make_unique<double[]>(num_rows);
+ problem->D = std::make_unique<double[]>(num_cols);
problem->num_eliminate_blocks = 1;
- CompressedRowBlockStructure* bs = new CompressedRowBlockStructure;
- std::unique_ptr<double[]> values(new double[num_rows * num_cols]);
+ auto* bs = new CompressedRowBlockStructure;
+ std::unique_ptr<double[]> values =
+ std::make_unique<double[]>(num_rows * num_cols);
// Column block structure
- bs->cols.push_back(Block());
+ bs->cols.emplace_back();
bs->cols.back().size = 2;
bs->cols.back().position = 0;
- bs->cols.push_back(Block());
+ bs->cols.emplace_back();
bs->cols.back().size = 3;
bs->cols.back().position = 2;
- bs->cols.push_back(Block());
+ bs->cols.emplace_back();
bs->cols.back().size = 2;
bs->cols.back().position = 5;
@@ -555,18 +564,18 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem4() {
// Row 1 & 2
{
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 2;
row.block.position = 0;
- row.cells.push_back(Cell(0, nnz));
+ row.cells.emplace_back(0, nnz);
values[nnz++] = 1;
values[nnz++] = 2;
values[nnz++] = 1;
values[nnz++] = 4;
- row.cells.push_back(Cell(2, nnz));
+ row.cells.emplace_back(2, nnz);
values[nnz++] = 1;
values[nnz++] = 1;
values[nnz++] = 5;
@@ -575,22 +584,22 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem4() {
// Row 3
{
- bs->rows.push_back(CompressedRow());
+ bs->rows.emplace_back();
CompressedRow& row = bs->rows.back();
row.block.size = 1;
row.block.position = 2;
- row.cells.push_back(Cell(1, nnz));
+ row.cells.emplace_back(1, nnz);
values[nnz++] = 9;
values[nnz++] = 0;
values[nnz++] = 0;
- row.cells.push_back(Cell(2, nnz));
+ row.cells.emplace_back(2, nnz);
values[nnz++] = 3;
values[nnz++] = 1;
}
- BlockSparseMatrix* A = new BlockSparseMatrix(bs);
+ auto A = std::make_unique<BlockSparseMatrix>(bs);
memcpy(A->mutable_values(), values.get(), nnz * sizeof(*A->values()));
for (int i = 0; i < num_cols; ++i) {
@@ -601,7 +610,7 @@ LinearLeastSquaresProblem* LinearLeastSquaresProblem4() {
problem->b.get()[i] = i;
}
- problem->A.reset(A);
+ problem->A = std::move(A);
return problem;
}
@@ -616,15 +625,15 @@ bool DumpLinearLeastSquaresProblemToConsole(const SparseMatrix* A,
A->ToDenseMatrix(&AA);
LOG(INFO) << "A^T: \n" << AA.transpose();
- if (D != NULL) {
+ if (D != nullptr) {
LOG(INFO) << "A's appended diagonal:\n" << ConstVectorRef(D, A->num_cols());
}
- if (b != NULL) {
+ if (b != nullptr) {
LOG(INFO) << "b: \n" << ConstVectorRef(b, A->num_rows());
}
- if (x != NULL) {
+ if (x != nullptr) {
LOG(INFO) << "x: \n" << ConstVectorRef(x, A->num_cols());
}
return true;
@@ -673,21 +682,21 @@ bool DumpLinearLeastSquaresProblemToTextFile(const string& filename_base,
A->num_cols());
}
- if (D != NULL) {
+ if (D != nullptr) {
string filename = filename_base + "_D.txt";
WriteArrayToFileOrDie(filename, D, A->num_cols());
StringAppendF(
&matlab_script, "lsqp.D = load('%s', '-ascii');\n", filename.c_str());
}
- if (b != NULL) {
+ if (b != nullptr) {
string filename = filename_base + "_b.txt";
WriteArrayToFileOrDie(filename, b, A->num_rows());
StringAppendF(
&matlab_script, "lsqp.b = load('%s', '-ascii');\n", filename.c_str());
}
- if (x != NULL) {
+ if (x != nullptr) {
string filename = filename_base + "_x.txt";
WriteArrayToFileOrDie(filename, x, A->num_cols());
StringAppendF(
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-19 03:27:18 +0300