diff options
Diffstat (limited to 'extern/ceres/internal/ceres/partitioned_matrix_view_impl.h')
| -rw-r--r-- | extern/ceres/internal/ceres/partitioned_matrix_view_impl.h | 69 |
1 files changed, 32 insertions, 37 deletions
diff --git a/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h b/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h index 0b6a57fb9f2..2e818caa6ef 100644 --- a/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h +++ b/extern/ceres/internal/ceres/partitioned_matrix_view_impl.h @@ -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 @@ -30,6 +30,7 @@ #include <algorithm> #include <cstring> +#include <memory> #include <vector> #include "ceres/block_sparse_matrix.h" @@ -57,8 +58,8 @@ PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: // e_blocks. For a definition of what an e_block is, please see // explicit_schur_complement_solver.h num_row_blocks_e_ = 0; - for (int r = 0; r < bs->rows.size(); ++r) { - const std::vector<Cell>& cells = bs->rows[r].cells; + for (const auto& row : bs->rows) { + const std::vector<Cell>& cells = row.cells; if (cells[0].block_id < num_col_blocks_e_) { ++num_row_blocks_e_; } @@ -80,10 +81,6 @@ PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: CHECK_EQ(num_cols_e_ + num_cols_f_, matrix_.num_cols()); } -template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: - ~PartitionedMatrixView() {} - // The next four methods don't seem to be particularly cache // friendly. This is an artifact of how the BlockStructure of the // input matrix is constructed. These methods will benefit from @@ -145,13 +142,13 @@ void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: const int row_block_pos = bs->rows[r].block.position; const int row_block_size = bs->rows[r].block.size; const std::vector<Cell>& cells = bs->rows[r].cells; - for (int c = 0; c < cells.size(); ++c) { - const int col_block_id = cells[c].block_id; + for (const auto& cell : cells) { + const int col_block_id = cell.block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; // clang-format off MatrixVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>( - values + cells[c].position, row_block_size, col_block_size, + values + cell.position, row_block_size, col_block_size, x + col_block_pos - num_cols_e_, y + row_block_pos); // clang-format on @@ -215,13 +212,13 @@ void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: const int row_block_pos = bs->rows[r].block.position; const int row_block_size = bs->rows[r].block.size; const std::vector<Cell>& cells = bs->rows[r].cells; - for (int c = 0; c < cells.size(); ++c) { - const int col_block_id = cells[c].block_id; + for (const auto& cell : cells) { + const int col_block_id = cell.block_id; const int col_block_pos = bs->cols[col_block_id].position; const int col_block_size = bs->cols[col_block_id].size; // clang-format off MatrixTransposeVectorMultiply<Eigen::Dynamic, Eigen::Dynamic, 1>( - values + cells[c].position, row_block_size, col_block_size, + values + cell.position, row_block_size, col_block_size, x + row_block_pos, y + col_block_pos - num_cols_e_); // clang-format on @@ -235,13 +232,12 @@ void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: // and return a BlockSparseMatrix with the this block structure. The // caller owns the result. template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -BlockSparseMatrix* +std::unique_ptr<BlockSparseMatrix> PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: CreateBlockDiagonalMatrixLayout(int start_col_block, int end_col_block) const { const CompressedRowBlockStructure* bs = matrix_.block_structure(); - CompressedRowBlockStructure* block_diagonal_structure = - new CompressedRowBlockStructure; + auto* block_diagonal_structure = new CompressedRowBlockStructure; int block_position = 0; int diagonal_cell_position = 0; @@ -250,16 +246,16 @@ PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: // each column block. for (int c = start_col_block; c < end_col_block; ++c) { const Block& block = bs->cols[c]; - block_diagonal_structure->cols.push_back(Block()); + block_diagonal_structure->cols.emplace_back(); Block& diagonal_block = block_diagonal_structure->cols.back(); diagonal_block.size = block.size; diagonal_block.position = block_position; - block_diagonal_structure->rows.push_back(CompressedRow()); + block_diagonal_structure->rows.emplace_back(); CompressedRow& row = block_diagonal_structure->rows.back(); row.block = diagonal_block; - row.cells.push_back(Cell()); + row.cells.emplace_back(); Cell& cell = row.cells.back(); cell.block_id = c - start_col_block; cell.position = diagonal_cell_position; @@ -270,28 +266,27 @@ PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: // Build a BlockSparseMatrix with the just computed block // structure. - return new BlockSparseMatrix(block_diagonal_structure); + return std::make_unique<BlockSparseMatrix>(block_diagonal_structure); } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -BlockSparseMatrix* PartitionedMatrixView<kRowBlockSize, - kEBlockSize, - kFBlockSize>::CreateBlockDiagonalEtE() - const { - BlockSparseMatrix* block_diagonal = +std::unique_ptr<BlockSparseMatrix> +PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + CreateBlockDiagonalEtE() const { + std::unique_ptr<BlockSparseMatrix> block_diagonal = CreateBlockDiagonalMatrixLayout(0, num_col_blocks_e_); - UpdateBlockDiagonalEtE(block_diagonal); + UpdateBlockDiagonalEtE(block_diagonal.get()); return block_diagonal; } template <int kRowBlockSize, int kEBlockSize, int kFBlockSize> -BlockSparseMatrix* PartitionedMatrixView<kRowBlockSize, - kEBlockSize, - kFBlockSize>::CreateBlockDiagonalFtF() - const { - BlockSparseMatrix* block_diagonal = CreateBlockDiagonalMatrixLayout( - num_col_blocks_e_, num_col_blocks_e_ + num_col_blocks_f_); - UpdateBlockDiagonalFtF(block_diagonal); +std::unique_ptr<BlockSparseMatrix> +PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: + CreateBlockDiagonalFtF() const { + std::unique_ptr<BlockSparseMatrix> block_diagonal = + CreateBlockDiagonalMatrixLayout(num_col_blocks_e_, + num_col_blocks_e_ + num_col_blocks_f_); + UpdateBlockDiagonalFtF(block_diagonal.get()); return block_diagonal; } @@ -366,8 +361,8 @@ void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: for (int r = num_row_blocks_e_; r < bs->rows.size(); ++r) { const int row_block_size = bs->rows[r].block.size; const std::vector<Cell>& cells = bs->rows[r].cells; - for (int c = 0; c < cells.size(); ++c) { - const int col_block_id = cells[c].block_id; + for (const auto& cell : cells) { + const int col_block_id = cell.block_id; const int col_block_size = bs->cols[col_block_id].size; const int diagonal_block_id = col_block_id - num_col_blocks_e_; const int cell_position = @@ -376,8 +371,8 @@ void PartitionedMatrixView<kRowBlockSize, kEBlockSize, kFBlockSize>:: // clang-format off MatrixTransposeMatrixMultiply <Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic, 1>( - values + cells[c].position, row_block_size, col_block_size, - values + cells[c].position, row_block_size, col_block_size, + values + cell.position, row_block_size, col_block_size, + values + cell.position, row_block_size, col_block_size, block_diagonal->mutable_values() + cell_position, 0, 0, col_block_size, col_block_size); // clang-format on |