Lint changes from William Rucklidge
Change-Id: If05a774c5e7dd318e6b3ee698e313f0fc58ee922
diff --git a/include/ceres/covariance.h b/include/ceres/covariance.h
index dd87868..930f96c 100644
--- a/include/ceres/covariance.h
+++ b/include/ceres/covariance.h
@@ -420,16 +420,16 @@
//
// Compute must be called before calling GetCovarianceMatrix and all
// parameter_blocks must have been present in the vector
- // parameters_blocks when Compute was called. Otherwise
+ // parameter_blocks when Compute was called. Otherwise
// GetCovarianceMatrix returns false.
//
// covariance_matrix must point to a memory location that can store
- // the size of the covariance matrix. The size of the covariance
- // matrix corresponds the sum of the sizes of the individual
- // parameter blocks. The covariance matrix will be a row-major
- // matrix.
- bool GetCovarianceMatrix(const std::vector<const double*>& parameter_blocks,
- double* covariance_matrix);
+ // the size of the covariance matrix. The covariance matrix will be
+ // a square matrix whose row and column count is equal to the sum of
+ // the sizes of the individual parameter blocks. The covariance
+ // matrix will be a row-major matrix.
+ bool GetCovarianceMatrix(const std::vector<const double *> ¶meter_blocks,
+ double *covariance_matrix);
// Return the covariance matrix corresponding to parameter_blocks
// in the tangent space if a local parameterization is associated
@@ -442,10 +442,10 @@
// GetCovarianceMatrix returns false.
//
// covariance_matrix must point to a memory location that can store
- // the size of the covariance matrix. The size of the covariance
- // matrix corresponds the sum of the sizes of the individual
- // parameter blocks. The covariance matrix will be a row-major
- // matrix.
+ // the size of the covariance matrix. The covariance matrix will be
+ // a square matrix whose row and column count is equal to the sum of
+ // the sizes of the tangent spaces of the individual parameter
+ // blocks. The covariance matrix will be a row-major matrix.
bool GetCovarianceMatrixInTangentSpace(
const std::vector<const double*>& parameter_blocks,
double* covariance_matrix);
diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
index 198a13e..cfa5ffc 100644
--- a/internal/ceres/covariance_impl.cc
+++ b/internal/ceres/covariance_impl.cc
@@ -93,18 +93,19 @@
template <typename T> void CheckForDuplicates(vector<T> blocks) {
sort(blocks.begin(), blocks.end());
- typename vector<T>::iterator it = std::adjacent_find(blocks.begin(), blocks
- .end());
+ typename vector<T>::iterator it =
+ std::adjacent_find(blocks.begin(), blocks.end());
if (it != blocks.end()) {
// In case there are duplicates, we search for their location.
map<T, vector<int> > blocks_map;
- for (int i=0; i < blocks.size(); ++i) {
+ for (int i = 0; i < blocks.size(); ++i) {
blocks_map[blocks[i]].push_back(i);
}
+
std::ostringstream duplicates;
while (it != blocks.end()) {
duplicates << "(";
- for (int i=0; i < blocks_map[*it].size()-1; ++i) {
+ for (int i = 0; i < blocks_map[*it].size() - 1; ++i) {
duplicates << blocks_map[*it][i] << ", ";
}
duplicates << blocks_map[*it].back() << ")";
@@ -113,9 +114,9 @@
duplicates << " and ";
}
}
- CHECK(false) << "Covariance::Compute called with duplicate blocks at "
- << "indices "
- << duplicates.str();
+
+ LOG(FATAL) << "Covariance::Compute called with duplicate blocks at "
+ << "indices " << duplicates.str();
}
}
@@ -134,20 +135,15 @@
bool CovarianceImpl::Compute(const vector<const double*>& parameter_blocks,
ProblemImpl* problem) {
CheckForDuplicates<const double*>(parameter_blocks);
- vector<pair<const double*, const double*> > covariance_blocks;
+ CovarianceBlocks covariance_blocks;
for (int i = 0; i < parameter_blocks.size(); ++i) {
for (int j = i; j < parameter_blocks.size(); ++j) {
covariance_blocks.push_back(make_pair(parameter_blocks[i],
parameter_blocks[j]));
}
}
- problem_ = problem;
- parameter_block_to_row_index_.clear();
- covariance_matrix_.reset(NULL);
- is_valid_ = (ComputeCovarianceSparsity(covariance_blocks, problem) &&
- ComputeCovarianceValues());
- is_computed_ = true;
- return is_valid_;
+
+ return Compute(covariance_blocks, problem);
}
bool CovarianceImpl::GetCovarianceBlockInTangentOrAmbientSpace(
@@ -319,8 +315,8 @@
cum_parameter_size.resize(parameters.size() + 1);
cum_parameter_size[0] = 0;
for (int i = 0; i < parameters.size(); ++i) {
- ParameterBlock* block = FindOrDie(parameter_map,
- const_cast<double*>(parameters[i]));
+ ParameterBlock* block =
+ FindOrDie(parameter_map, const_cast<double*>(parameters[i]));
if (lift_covariance_to_ambient_space) {
parameter_sizes.push_back(block->Size());
} else {
@@ -329,19 +325,19 @@
}
std::partial_sum(parameter_sizes.begin(), parameter_sizes.end(),
cum_parameter_size.begin() + 1);
- const int max_covariance_block_size = *std::max_element(
- parameter_sizes.begin(),
- parameter_sizes.end());
+ const int max_covariance_block_size =
+ *std::max_element(parameter_sizes.begin(), parameter_sizes.end());
const int covariance_size = cum_parameter_size.back();
// Assemble the blocks in the covariance matrix.
MatrixRef covariance(covariance_matrix, covariance_size, covariance_size);
const int num_threads = options_.num_threads;
- scoped_array<double> workspace(new double[num_threads *
- max_covariance_block_size * max_covariance_block_size]);
+ scoped_array<double> workspace(
+ new double[num_threads * max_covariance_block_size *
+ max_covariance_block_size]);
bool success = true;
-#pragma omp parallel for num_threads (num_threads) schedule(dynamic) collapse(2)
+#pragma omp parallel for num_threads(num_threads) schedule(dynamic) collapse(2)
for (int i = 0; i < parameters.size(); ++i) {
for (int j = 0; j < parameters.size(); ++j) {
// The second loop can't start from j = i for compatibility with OpenMP
@@ -356,21 +352,24 @@
#else
int thread_id = 0;
#endif
- double* covariance_block = workspace.get() + thread_id *
- max_covariance_block_size * max_covariance_block_size;
+ double* covariance_block =
+ workspace.get() +
+ thread_id * max_covariance_block_size * max_covariance_block_size;
if (!GetCovarianceBlockInTangentOrAmbientSpace(
- parameters[i],
- parameters[j],
- lift_covariance_to_ambient_space,
- covariance_block)) {
+ parameters[i], parameters[j], lift_covariance_to_ambient_space,
+ covariance_block)) {
success = false;
}
- covariance.block(covariance_row_idx, covariance_col_idx, size_i,
- size_j) = MatrixRef(covariance_block, size_i, size_j);
+
+ covariance.block(covariance_row_idx, covariance_col_idx,
+ size_i, size_j) =
+ MatrixRef(covariance_block, size_i, size_j);
+
if (i != j) {
- covariance.block(covariance_col_idx, covariance_row_idx, size_j,
- size_i) = MatrixRef(covariance_block, size_i,
- size_j).transpose();
+ covariance.block(covariance_col_idx, covariance_row_idx,
+ size_j, size_i) =
+ MatrixRef(covariance_block, size_i, size_j).transpose();
+
}
}
}
