diff options
Diffstat (limited to 'extern/ceres/internal/ceres/reorder_program.cc')
| -rw-r--r-- | extern/ceres/internal/ceres/reorder_program.cc | 37 |
1 files changed, 19 insertions, 18 deletions
diff --git a/extern/ceres/internal/ceres/reorder_program.cc b/extern/ceres/internal/ceres/reorder_program.cc index 5d802365f33..d552ebf3de3 100644 --- a/extern/ceres/internal/ceres/reorder_program.cc +++ b/extern/ceres/internal/ceres/reorder_program.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 @@ -37,7 +37,8 @@ #include "Eigen/SparseCore" #include "ceres/cxsparse.h" -#include "ceres/internal/port.h" +#include "ceres/internal/config.h" +#include "ceres/internal/export.h" #include "ceres/ordered_groups.h" #include "ceres/parameter_block.h" #include "ceres/parameter_block_ordering.h" @@ -88,8 +89,8 @@ static int MinParameterBlock(const ResidualBlock* residual_block, #if defined(CERES_USE_EIGEN_SPARSE) Eigen::SparseMatrix<int> CreateBlockJacobian( const TripletSparseMatrix& block_jacobian_transpose) { - typedef Eigen::SparseMatrix<int> SparseMatrix; - typedef Eigen::Triplet<int> Triplet; + using SparseMatrix = Eigen::SparseMatrix<int>; + using Triplet = Eigen::Triplet<int>; const int* rows = block_jacobian_transpose.rows(); const int* cols = block_jacobian_transpose.cols(); @@ -97,7 +98,7 @@ Eigen::SparseMatrix<int> CreateBlockJacobian( vector<Triplet> triplets; triplets.reserve(num_nonzeros); for (int i = 0; i < num_nonzeros; ++i) { - triplets.push_back(Triplet(cols[i], rows[i], 1)); + triplets.emplace_back(cols[i], rows[i], 1); } SparseMatrix block_jacobian(block_jacobian_transpose.num_cols(), @@ -127,9 +128,9 @@ void OrderingForSparseNormalCholeskyUsingSuiteSparse( ss.ApproximateMinimumDegreeOrdering(block_jacobian_transpose, &ordering[0]); } else { vector<int> constraints; - for (int i = 0; i < parameter_blocks.size(); ++i) { + for (auto* parameter_block : parameter_blocks) { constraints.push_back(parameter_block_ordering.GroupId( - parameter_blocks[i]->mutable_user_state())); + parameter_block->mutable_user_state())); } // Renumber the entries of constraints to be contiguous integers @@ -188,7 +189,7 @@ void OrderingForSparseNormalCholeskyUsingEigenSparse( // things. The right thing to do here would be to get a compressed // row sparse matrix representation of the jacobian and go from // there. But that is a project for another day. - typedef Eigen::SparseMatrix<int> SparseMatrix; + using SparseMatrix = Eigen::SparseMatrix<int>; const SparseMatrix block_jacobian = CreateBlockJacobian(tsm_block_jacobian_transpose); @@ -279,7 +280,7 @@ bool LexicographicallyOrderResidualBlocks( CHECK(find(residual_blocks_per_e_block.begin(), residual_blocks_per_e_block.end() - 1, - 0) != residual_blocks_per_e_block.end()) + 0) == residual_blocks_per_e_block.end() - 1) << "Congratulations, you found a Ceres bug! Please report this error " << "to the developers."; @@ -291,7 +292,7 @@ bool LexicographicallyOrderResidualBlocks( // filling is finished, the offset pointerts should have shifted down one // entry (this is verified below). vector<ResidualBlock*> reordered_residual_blocks( - (*residual_blocks).size(), static_cast<ResidualBlock*>(NULL)); + (*residual_blocks).size(), static_cast<ResidualBlock*>(nullptr)); for (int i = 0; i < residual_blocks->size(); ++i) { int bucket = min_position_per_residual[i]; @@ -299,7 +300,7 @@ bool LexicographicallyOrderResidualBlocks( offsets[bucket]--; // Sanity. - CHECK(reordered_residual_blocks[offsets[bucket]] == NULL) + CHECK(reordered_residual_blocks[offsets[bucket]] == nullptr) << "Congratulations, you found a Ceres bug! Please report this error " << "to the developers."; @@ -313,9 +314,9 @@ bool LexicographicallyOrderResidualBlocks( << "Congratulations, you found a Ceres bug! Please report this error " << "to the developers."; } - // Sanity check #2: No NULL's left behind. - for (int i = 0; i < reordered_residual_blocks.size(); ++i) { - CHECK(reordered_residual_blocks[i] != NULL) + // Sanity check #2: No nullptr's left behind. + for (auto* residual_block : reordered_residual_blocks) { + CHECK(residual_block != nullptr) << "Congratulations, you found a Ceres bug! Please report this error " << "to the developers."; } @@ -339,9 +340,9 @@ static void MaybeReorderSchurComplementColumnsUsingSuiteSparse( vector<ParameterBlock*>& parameter_blocks = *(program->mutable_parameter_blocks()); - for (int i = 0; i < parameter_blocks.size(); ++i) { + for (auto* parameter_block : parameter_blocks) { constraints.push_back(parameter_block_ordering.GroupId( - parameter_blocks[i]->mutable_user_state())); + parameter_block->mutable_user_state())); } // Renumber the entries of constraints to be contiguous integers as @@ -378,7 +379,7 @@ static void MaybeReorderSchurComplementColumnsUsingEigen( std::unique_ptr<TripletSparseMatrix> tsm_block_jacobian_transpose( program->CreateJacobianBlockSparsityTranspose()); - typedef Eigen::SparseMatrix<int> SparseMatrix; + using SparseMatrix = Eigen::SparseMatrix<int>; const SparseMatrix block_jacobian = CreateBlockJacobian(*tsm_block_jacobian_transpose); const int num_rows = block_jacobian.rows(); @@ -441,7 +442,7 @@ bool ReorderProgramForSchurTypeLinearSolver( if (parameter_block_ordering->NumGroups() == 1) { // If the user supplied an parameter_block_ordering with just one - // group, it is equivalent to the user supplying NULL as an + // group, it is equivalent to the user supplying nullptr as an // parameter_block_ordering. Ceres is completely free to choose the // parameter block ordering as it sees fit. For Schur type solvers, // this means that the user wishes for Ceres to identify the |