diff options
Diffstat (limited to 'extern/ceres/internal/ceres/schur_eliminator_impl.h')
| -rw-r--r-- | extern/ceres/internal/ceres/schur_eliminator_impl.h | 33 |
1 files changed, 16 insertions, 17 deletions
diff --git a/extern/ceres/internal/ceres/schur_eliminator_impl.h b/extern/ceres/internal/ceres/schur_eliminator_impl.h index 1f0b4fa481d..de3ba3e5dcb 100644 --- a/extern/ceres/internal/ceres/schur_eliminator_impl.h +++ b/extern/ceres/internal/ceres/schur_eliminator_impl.h @@ -47,7 +47,7 @@ // This include must come before any #ifndef check on Ceres compile options. // clang-format off -#include "ceres/internal/port.h" +#include "ceres/internal/config.h" // clang-format on #include <algorithm> @@ -125,10 +125,8 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Init( break; } - chunks_.push_back(Chunk()); + chunks_.push_back(Chunk(r)); Chunk& chunk = chunks_.back(); - chunk.size = 0; - chunk.start = r; int buffer_size = 0; const int e_block_size = bs->cols[chunk_block_id].size; @@ -161,12 +159,13 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Init( uneliminated_row_begins_ = chunk.start + chunk.size; - buffer_.reset(new double[buffer_size_ * num_threads_]); + buffer_ = std::make_unique<double[]>(buffer_size_ * num_threads_); // chunk_outer_product_buffer_ only needs to store e_block_size * // f_block_size, which is always less than buffer_size_, so we just // allocate buffer_size_ per thread. - chunk_outer_product_buffer_.reset(new double[buffer_size_ * num_threads_]); + chunk_outer_product_buffer_ = + std::make_unique<double[]>(buffer_size_ * num_threads_); STLDeleteElements(&rhs_locks_); rhs_locks_.resize(num_col_blocks - num_eliminate_blocks_); @@ -193,7 +192,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Eliminate( const int num_col_blocks = bs->cols.size(); // Add the diagonal to the schur complement. - if (D != NULL) { + if (D != nullptr) { ParallelFor(context_, num_eliminate_blocks_, num_col_blocks, @@ -203,7 +202,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Eliminate( int r, c, row_stride, col_stride; CellInfo* cell_info = lhs->GetCell( block_id, block_id, &r, &c, &row_stride, &col_stride); - if (cell_info != NULL) { + if (cell_info != nullptr) { const int block_size = bs->cols[i].size; typename EigenTypes<Eigen::Dynamic>::ConstVectorRef diag( D + bs->cols[i].position, block_size); @@ -245,7 +244,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::Eliminate( typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix ete(e_block_size, e_block_size); - if (D != NULL) { + if (D != nullptr) { const typename EigenTypes<kEBlockSize>::ConstVectorRef diag( D + bs->cols[e_block_id].position, e_block_size); ete = diag.array().square().matrix().asDiagonal(); @@ -327,7 +326,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>::BackSubstitute( typename EigenTypes<kEBlockSize, kEBlockSize>::Matrix ete(e_block_size, e_block_size); - if (D != NULL) { + if (D != nullptr) { const typename EigenTypes<kEBlockSize>::ConstVectorRef diag( D + bs->cols[e_block_id].position, e_block_size); ete = diag.array().square().matrix().asDiagonal(); @@ -525,7 +524,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>:: // computation of the right-hand matrix product, but memory // references to the left hand side. const int e_block_size = inverse_ete.rows(); - BufferLayoutType::const_iterator it1 = buffer_layout.begin(); + auto it1 = buffer_layout.begin(); double* b1_transpose_inverse_ete = chunk_outer_product_buffer_.get() + thread_id * buffer_size_; @@ -542,14 +541,14 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>:: b1_transpose_inverse_ete, 0, 0, block1_size, e_block_size); // clang-format on - BufferLayoutType::const_iterator it2 = it1; + auto it2 = it1; for (; it2 != buffer_layout.end(); ++it2) { const int block2 = it2->first - num_eliminate_blocks_; int r, c, row_stride, col_stride; CellInfo* cell_info = lhs->GetCell(block1, block2, &r, &c, &row_stride, &col_stride); - if (cell_info != NULL) { + if (cell_info != nullptr) { const int block2_size = bs->cols[it2->first].size; std::lock_guard<std::mutex> l(cell_info->m); // clang-format off @@ -627,7 +626,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>:: int r, c, row_stride, col_stride; CellInfo* cell_info = lhs->GetCell(block1, block1, &r, &c, &row_stride, &col_stride); - if (cell_info != NULL) { + if (cell_info != nullptr) { std::lock_guard<std::mutex> l(cell_info->m); // This multiply currently ignores the fact that this is a // symmetric outer product. @@ -647,7 +646,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>:: int r, c, row_stride, col_stride; CellInfo* cell_info = lhs->GetCell(block1, block2, &r, &c, &row_stride, &col_stride); - if (cell_info != NULL) { + if (cell_info != nullptr) { const int block2_size = bs->cols[row.cells[j].block_id].size; std::lock_guard<std::mutex> l(cell_info->m); // clang-format off @@ -682,7 +681,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>:: int r, c, row_stride, col_stride; CellInfo* cell_info = lhs->GetCell(block1, block1, &r, &c, &row_stride, &col_stride); - if (cell_info != NULL) { + if (cell_info != nullptr) { std::lock_guard<std::mutex> l(cell_info->m); // block += b1.transpose() * b1; // clang-format off @@ -702,7 +701,7 @@ void SchurEliminator<kRowBlockSize, kEBlockSize, kFBlockSize>:: int r, c, row_stride, col_stride; CellInfo* cell_info = lhs->GetCell(block1, block2, &r, &c, &row_stride, &col_stride); - if (cell_info != NULL) { + if (cell_info != nullptr) { // block += b1.transpose() * b2; std::lock_guard<std::mutex> l(cell_info->m); // clang-format off |