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Diffstat (limited to 'extern/ceres/internal/ceres/visibility_based_preconditioner.cc')
-rw-r--r--extern/ceres/internal/ceres/visibility_based_preconditioner.cc63
1 files changed, 29 insertions, 34 deletions
diff --git a/extern/ceres/internal/ceres/visibility_based_preconditioner.cc b/extern/ceres/internal/ceres/visibility_based_preconditioner.cc
index 0cf4afaae06..831a8663027 100644
--- a/extern/ceres/internal/ceres/visibility_based_preconditioner.cc
+++ b/extern/ceres/internal/ceres/visibility_based_preconditioner.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
@@ -70,9 +70,8 @@ static constexpr double kCanonicalViewsSimilarityPenaltyWeight = 0.0;
static constexpr double kSingleLinkageMinSimilarity = 0.9;
VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
- const CompressedRowBlockStructure& bs,
- const Preconditioner::Options& options)
- : options_(options), num_blocks_(0), num_clusters_(0) {
+ const CompressedRowBlockStructure& bs, Preconditioner::Options options)
+ : options_(std::move(options)), num_blocks_(0), num_clusters_(0) {
CHECK_GT(options_.elimination_groups.size(), 1);
CHECK_GT(options_.elimination_groups[0], 0);
CHECK(options_.type == CLUSTER_JACOBI || options_.type == CLUSTER_TRIDIAGONAL)
@@ -80,7 +79,7 @@ VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
num_blocks_ = bs.cols.size() - options_.elimination_groups[0];
CHECK_GT(num_blocks_, 0) << "Jacobian should have at least 1 f_block for "
<< "visibility based preconditioning.";
- CHECK(options_.context != NULL);
+ CHECK(options_.context != nullptr);
// Vector of camera block sizes
block_size_.resize(num_blocks_);
@@ -88,7 +87,7 @@ VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
block_size_[i] = bs.cols[i + options_.elimination_groups[0]].size;
}
- const time_t start_time = time(NULL);
+ const time_t start_time = time(nullptr);
switch (options_.type) {
case CLUSTER_JACOBI:
ComputeClusterJacobiSparsity(bs);
@@ -99,11 +98,11 @@ VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
default:
LOG(FATAL) << "Unknown preconditioner type";
}
- const time_t structure_time = time(NULL);
+ const time_t structure_time = time(nullptr);
InitStorage(bs);
- const time_t storage_time = time(NULL);
+ const time_t storage_time = time(nullptr);
InitEliminator(bs);
- const time_t eliminator_time = time(NULL);
+ const time_t eliminator_time = time(nullptr);
LinearSolver::Options sparse_cholesky_options;
sparse_cholesky_options.sparse_linear_algebra_library_type =
@@ -118,14 +117,14 @@ VisibilityBasedPreconditioner::VisibilityBasedPreconditioner(
sparse_cholesky_options.use_postordering = true;
sparse_cholesky_ = SparseCholesky::Create(sparse_cholesky_options);
- const time_t init_time = time(NULL);
+ const time_t init_time = time(nullptr);
VLOG(2) << "init time: " << init_time - start_time
<< " structure time: " << structure_time - start_time
<< " storage time:" << storage_time - structure_time
<< " eliminator time: " << eliminator_time - storage_time;
}
-VisibilityBasedPreconditioner::~VisibilityBasedPreconditioner() {}
+VisibilityBasedPreconditioner::~VisibilityBasedPreconditioner() = default;
// Determine the sparsity structure of the CLUSTER_JACOBI
// preconditioner. It clusters cameras using their scene
@@ -162,11 +161,9 @@ void VisibilityBasedPreconditioner::ComputeClusterTridiagonalSparsity(
// maximum spanning forest of this graph.
vector<set<int>> cluster_visibility;
ComputeClusterVisibility(visibility, &cluster_visibility);
- std::unique_ptr<WeightedGraph<int>> cluster_graph(
- CreateClusterGraph(cluster_visibility));
+ auto cluster_graph = CreateClusterGraph(cluster_visibility);
CHECK(cluster_graph != nullptr);
- std::unique_ptr<WeightedGraph<int>> forest(
- Degree2MaximumSpanningForest(*cluster_graph));
+ auto forest = Degree2MaximumSpanningForest(*cluster_graph);
CHECK(forest != nullptr);
ForestToClusterPairs(*forest, &cluster_pairs_);
}
@@ -175,7 +172,8 @@ void VisibilityBasedPreconditioner::ComputeClusterTridiagonalSparsity(
void VisibilityBasedPreconditioner::InitStorage(
const CompressedRowBlockStructure& bs) {
ComputeBlockPairsInPreconditioner(bs);
- m_.reset(new BlockRandomAccessSparseMatrix(block_size_, block_pairs_));
+ m_ = std::make_unique<BlockRandomAccessSparseMatrix>(block_size_,
+ block_pairs_);
}
// Call the canonical views algorithm and cluster the cameras based on
@@ -186,8 +184,7 @@ void VisibilityBasedPreconditioner::InitStorage(
// memberships for each camera block.
void VisibilityBasedPreconditioner::ClusterCameras(
const vector<set<int>>& visibility) {
- std::unique_ptr<WeightedGraph<int>> schur_complement_graph(
- CreateSchurComplementGraph(visibility));
+ auto schur_complement_graph = CreateSchurComplementGraph(visibility);
CHECK(schur_complement_graph != nullptr);
std::unordered_map<int, int> membership;
@@ -285,14 +282,12 @@ void VisibilityBasedPreconditioner::ComputeBlockPairsInPreconditioner(
}
}
- for (set<int>::const_iterator block1 = f_blocks.begin();
- block1 != f_blocks.end();
- ++block1) {
- set<int>::const_iterator block2 = block1;
+ for (auto block1 = f_blocks.begin(); block1 != f_blocks.end(); ++block1) {
+ auto block2 = block1;
++block2;
for (; block2 != f_blocks.end(); ++block2) {
if (IsBlockPairInPreconditioner(*block1, *block2)) {
- block_pairs_.insert(make_pair(*block1, *block2));
+ block_pairs_.emplace(*block1, *block2);
}
}
}
@@ -304,8 +299,8 @@ void VisibilityBasedPreconditioner::ComputeBlockPairsInPreconditioner(
CHECK_GE(row.cells.front().block_id, num_eliminate_blocks);
for (int i = 0; i < row.cells.size(); ++i) {
const int block1 = row.cells[i].block_id - num_eliminate_blocks;
- for (int j = 0; j < row.cells.size(); ++j) {
- const int block2 = row.cells[j].block_id - num_eliminate_blocks;
+ for (const auto& cell : row.cells) {
+ const int block2 = cell.block_id - num_eliminate_blocks;
if (block1 <= block2) {
if (IsBlockPairInPreconditioner(block1, block2)) {
block_pairs_.insert(make_pair(block1, block2));
@@ -328,7 +323,7 @@ void VisibilityBasedPreconditioner::InitEliminator(
eliminator_options.f_block_size = options_.f_block_size;
eliminator_options.row_block_size = options_.row_block_size;
eliminator_options.context = options_.context;
- eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
+ eliminator_ = SchurEliminatorBase::Create(eliminator_options);
const bool kFullRankETE = true;
eliminator_->Init(
eliminator_options.elimination_groups[0], kFullRankETE, &bs);
@@ -337,7 +332,7 @@ void VisibilityBasedPreconditioner::InitEliminator(
// Update the values of the preconditioner matrix and factorize it.
bool VisibilityBasedPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
const double* D) {
- const time_t start_time = time(NULL);
+ const time_t start_time = time(nullptr);
const int num_rows = m_->num_rows();
CHECK_GT(num_rows, 0);
@@ -375,7 +370,7 @@ bool VisibilityBasedPreconditioner::UpdateImpl(const BlockSparseMatrix& A,
status = Factorize();
}
- VLOG(2) << "Compute time: " << time(NULL) - start_time;
+ VLOG(2) << "Compute time: " << time(nullptr) - start_time;
return (status == LINEAR_SOLVER_SUCCESS);
}
@@ -395,7 +390,7 @@ void VisibilityBasedPreconditioner::ScaleOffDiagonalCells() {
int r, c, row_stride, col_stride;
CellInfo* cell_info =
m_->GetCell(block1, block2, &r, &c, &row_stride, &col_stride);
- CHECK(cell_info != NULL)
+ CHECK(cell_info != nullptr)
<< "Cell missing for block pair (" << block1 << "," << block2 << ")"
<< " cluster pair (" << cluster_membership_[block1] << " "
<< cluster_membership_[block2] << ")";
@@ -420,11 +415,10 @@ LinearSolverTerminationType VisibilityBasedPreconditioner::Factorize() {
const CompressedRowSparseMatrix::StorageType storage_type =
sparse_cholesky_->StorageType();
if (storage_type == CompressedRowSparseMatrix::UPPER_TRIANGULAR) {
- lhs.reset(CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm));
+ lhs = CompressedRowSparseMatrix::FromTripletSparseMatrix(*tsm);
lhs->set_storage_type(CompressedRowSparseMatrix::UPPER_TRIANGULAR);
} else {
- lhs.reset(
- CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm));
+ lhs = CompressedRowSparseMatrix::FromTripletSparseMatrixTransposed(*tsm);
lhs->set_storage_type(CompressedRowSparseMatrix::LOWER_TRIANGULAR);
}
@@ -503,9 +497,10 @@ void VisibilityBasedPreconditioner::ComputeClusterVisibility(
// Construct a graph whose vertices are the clusters, and the edge
// weights are the number of 3D points visible to cameras in both the
// vertices.
-WeightedGraph<int>* VisibilityBasedPreconditioner::CreateClusterGraph(
+std::unique_ptr<WeightedGraph<int>>
+VisibilityBasedPreconditioner::CreateClusterGraph(
const vector<set<int>>& cluster_visibility) const {
- WeightedGraph<int>* cluster_graph = new WeightedGraph<int>;
+ auto cluster_graph = std::make_unique<WeightedGraph<int>>();
for (int i = 0; i < num_clusters_; ++i) {
cluster_graph->AddVertex(i);
generated by cgit v1.2.3 (git 2.25.1) at 2024-05-19 06:35:11 +0300