Lint changes from William and Jim. Change-Id: Ida89b67c66b3bc7683d95e63646dfb2f9679d1b1
diff --git a/examples/nist.cc b/examples/nist.cc index 244a7f8..7c177e9 100644 --- a/examples/nist.cc +++ b/examples/nist.cc
@@ -124,12 +124,12 @@ typedef Eigen::Matrix<double, Dynamic, 1> Vector; typedef Eigen::Matrix<double, Dynamic, Dynamic, RowMajor> Matrix; -using std::ifstream; -using std::vector; -using std::string; -using std::atoi; using std::atof; +using std::atoi; using std::cout; +using std::ifstream; +using std::string; +using std::vector; void SplitStringUsingChar(const string& full, const char delim,
diff --git a/internal/ceres/coordinate_descent_minimizer.cc b/internal/ceres/coordinate_descent_minimizer.cc index b949c00..0c58329 100644 --- a/internal/ceres/coordinate_descent_minimizer.cc +++ b/internal/ceres/coordinate_descent_minimizer.cc
@@ -107,7 +107,8 @@ const int num_parameter_blocks = residual_block->NumParameterBlocks(); for (int j = 0; j < num_parameter_blocks; ++j) { ParameterBlock* parameter_block = residual_block->parameter_blocks()[j]; - const map<ParameterBlock*, int>::const_iterator it = parameter_block_index.find(parameter_block); + const map<ParameterBlock*, int>::const_iterator it = + parameter_block_index.find(parameter_block); if (it != parameter_block_index.end()) { residual_blocks_[it->second].push_back(residual_block); }
diff --git a/internal/ceres/covariance_impl.h b/internal/ceres/covariance_impl.h index f2defe8..f73025e 100644 --- a/internal/ceres/covariance_impl.h +++ b/internal/ceres/covariance_impl.h
@@ -41,7 +41,6 @@ #include "ceres/suitesparse.h" namespace ceres { - namespace internal { class CompressedRowSparseMatrix;
diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc b/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc index bc1de72..7ac0b40 100644 --- a/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc +++ b/internal/ceres/dynamic_compressed_row_sparse_matrix_test.cc
@@ -41,8 +41,8 @@ namespace ceres { namespace internal { -using std::vector; using std::copy; +using std::vector; class DynamicCompressedRowSparseMatrixTest : public ::testing::Test { protected:
diff --git a/internal/ceres/gradient_checking_cost_function.cc b/internal/ceres/gradient_checking_cost_function.cc index 0ac3fe6..e3cd67c 100644 --- a/internal/ceres/gradient_checking_cost_function.cc +++ b/internal/ceres/gradient_checking_cost_function.cc
@@ -52,6 +52,8 @@ namespace ceres { namespace internal { +using std::abs; +using std::max; using std::string; using std::vector; @@ -71,14 +73,14 @@ if (!relative_error) { relative_error = &local_relative_error; } - *absolute_error = fabs(x - y); - *relative_error = *absolute_error / std::max(fabs(x), fabs(y)); + *absolute_error = abs(x - y); + *relative_error = *absolute_error / max(abs(x), abs(y)); if (x == 0 || y == 0) { // If x or y is exactly zero, then relative difference doesn't have any // meaning. Take the absolute difference instead. *relative_error = *absolute_error; } - return fabs(*relative_error) < fabs(relative_precision); + return abs(*relative_error) < abs(relative_precision); } class GradientCheckingCostFunction : public CostFunction { @@ -125,8 +127,7 @@ vector<Matrix> term_jacobians(block_sizes.size()); vector<Matrix> finite_difference_jacobians(block_sizes.size()); vector<double*> term_jacobian_pointers(block_sizes.size()); - vector<double*> finite_difference_jacobian_pointers( - block_sizes.size()); + vector<double*> finite_difference_jacobian_pointers(block_sizes.size()); for (int i = 0; i < block_sizes.size(); i++) { term_jacobians[i].resize(num_residuals, block_sizes[i]); term_jacobian_pointers[i] = term_jacobians[i].data(); @@ -186,8 +187,7 @@ relative_precision_, &relative_error, &absolute_error); - worst_relative_error = std::max(worst_relative_error, - relative_error); + worst_relative_error = max(worst_relative_error, relative_error); StringAppendF(&m, "%6d %4d %4d %17g %17g %17g %17g %17g %17g", k, i, j, @@ -264,8 +264,7 @@ // For every ParameterBlock in problem_impl, create a new parameter // block with the same local parameterization and constancy. - const vector<ParameterBlock*>& parameter_blocks = - program->parameter_blocks(); + const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks(); for (int i = 0; i < parameter_blocks.size(); ++i) { ParameterBlock* parameter_block = parameter_blocks[i]; gradient_checking_problem_impl->AddParameterBlock( @@ -282,8 +281,7 @@ // For every ResidualBlock in problem_impl, create a new // ResidualBlock by wrapping its CostFunction inside a // GradientCheckingCostFunction. - const vector<ResidualBlock*>& residual_blocks = - program->residual_blocks(); + const vector<ResidualBlock*>& residual_blocks = program->residual_blocks(); for (int i = 0; i < residual_blocks.size(); ++i) { ResidualBlock* residual_block = residual_blocks[i];
diff --git a/internal/ceres/gradient_checking_cost_function_test.cc b/internal/ceres/gradient_checking_cost_function_test.cc index 7bdc4da..ed72d21 100644 --- a/internal/ceres/gradient_checking_cost_function_test.cc +++ b/internal/ceres/gradient_checking_cost_function_test.cc
@@ -48,6 +48,9 @@ #include "gmock/mock-log.h" #include "gtest/gtest.h" +namespace ceres { +namespace internal { + using std::vector; using testing::AllOf; using testing::AnyNumber; @@ -55,9 +58,6 @@ using testing::ScopedMockLog; using testing::_; -namespace ceres { -namespace internal { - // Pick a (non-quadratic) function whose derivative are easy: // // f = exp(- a' x).
diff --git a/internal/ceres/parameter_block_ordering_test.cc b/internal/ceres/parameter_block_ordering_test.cc index dfc7b20..e5d6d31 100644 --- a/internal/ceres/parameter_block_ordering_test.cc +++ b/internal/ceres/parameter_block_ordering_test.cc
@@ -84,8 +84,7 @@ TEST_F(SchurOrderingTest, NoFixed) { const Program& program = problem_.program(); - const vector<ParameterBlock*>& parameter_blocks = - program.parameter_blocks(); + const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); const VertexSet& vertices = graph->vertices(); @@ -139,8 +138,7 @@ problem_.SetParameterBlockConstant(x_); const Program& program = problem_.program(); - const vector<ParameterBlock*>& parameter_blocks = - program.parameter_blocks(); + const vector<ParameterBlock*>& parameter_blocks = program.parameter_blocks(); scoped_ptr<HessianGraph> graph(CreateHessianGraph(program)); const VertexSet& vertices = graph->vertices();
diff --git a/internal/ceres/program.cc b/internal/ceres/program.cc index 131802f..2d5c4e2 100644 --- a/internal/ceres/program.cc +++ b/internal/ceres/program.cc
@@ -50,6 +50,7 @@ namespace ceres { namespace internal { +using std::max; using std::set; using std::string; using std::vector; @@ -284,10 +285,9 @@ return reduced_program.release(); } -bool Program::RemoveFixedBlocks( - vector<double*>* removed_parameter_blocks, - double* fixed_cost, - string* error) { +bool Program::RemoveFixedBlocks(vector<double*>* removed_parameter_blocks, + double* fixed_cost, + string* error) { CHECK_NOTNULL(removed_parameter_blocks); CHECK_NOTNULL(fixed_cost); CHECK_NOTNULL(error); @@ -373,8 +373,9 @@ // blocks in the same residual block are part of // parameter_block_ptrs as that would violate the assumption that it // is an independent set in the Hessian matrix. - vector<ResidualBlock*>::const_iterator it = residual_blocks_.begin(); - for (; it != residual_blocks_.end(); ++it) { + for (vector<ResidualBlock*>::const_iterator it = residual_blocks_.begin(); + it != residual_blocks_.end(); + ++it) { ParameterBlock* const* parameter_blocks = (*it)->parameter_blocks(); const int num_parameter_blocks = (*it)->NumParameterBlocks(); int count = 0; @@ -469,8 +470,8 @@ int max_scratch_bytes_for_evaluate = 0; for (int i = 0; i < residual_blocks_.size(); ++i) { max_scratch_bytes_for_evaluate = - std::max(max_scratch_bytes_for_evaluate, - residual_blocks_[i]->NumScratchDoublesForEvaluate()); + max(max_scratch_bytes_for_evaluate, + residual_blocks_[i]->NumScratchDoublesForEvaluate()); } return max_scratch_bytes_for_evaluate; } @@ -485,7 +486,7 @@ derivatives += residual_block->NumResiduals() * residual_block->parameter_blocks()[j]->LocalSize(); } - max_derivatives = std::max(max_derivatives, derivatives); + max_derivatives = max(max_derivatives, derivatives); } return max_derivatives; } @@ -493,8 +494,8 @@ int Program::MaxParametersPerResidualBlock() const { int max_parameters = 0; for (int i = 0; i < residual_blocks_.size(); ++i) { - max_parameters = std::max(max_parameters, - residual_blocks_[i]->NumParameterBlocks()); + max_parameters = max(max_parameters, + residual_blocks_[i]->NumParameterBlocks()); } return max_parameters; } @@ -502,8 +503,7 @@ int Program::MaxResidualsPerResidualBlock() const { int max_residuals = 0; for (int i = 0; i < residual_blocks_.size(); ++i) { - max_residuals = std::max(max_residuals, - residual_blocks_[i]->NumResiduals()); + max_residuals = max(max_residuals, residual_blocks_[i]->NumResiduals()); } return max_residuals; }
diff --git a/internal/ceres/reorder_program.cc b/internal/ceres/reorder_program.cc index d1c1df4..c771a22 100644 --- a/internal/ceres/reorder_program.cc +++ b/internal/ceres/reorder_program.cc
@@ -223,14 +223,14 @@ program->mutable_parameter_blocks(); parameter_blocks->clear(); - const map<int, set<double*> >& groups = - ordering.group_to_elements(); - - map<int, set<double*> >::const_iterator group_it = groups.begin(); - for ( ; group_it != groups.end(); ++group_it) { + const map<int, set<double*> >& groups = ordering.group_to_elements(); + for (map<int, set<double*> >::const_iterator group_it = groups.begin(); + group_it != groups.end(); + ++group_it) { const set<double*>& group = group_it->second; - set<double*>::const_iterator parameter_block_ptr_it = group.begin(); - for ( ; parameter_block_ptr_it != group.end(); ++parameter_block_ptr_it) { + for (set<double*>::const_iterator parameter_block_ptr_it = group.begin(); + parameter_block_ptr_it != group.end(); + ++parameter_block_ptr_it) { ProblemImpl::ParameterMap::const_iterator parameter_block_it = parameter_map.find(*parameter_block_ptr_it); if (parameter_block_it == parameter_map.end()) { @@ -256,10 +256,8 @@ // Create a histogram of the number of residuals for each E block. There is an // extra bucket at the end to catch all non-eliminated F blocks. - vector<int> residual_blocks_per_e_block( - size_of_first_elimination_group + 1); - vector<ResidualBlock*>* residual_blocks = - program->mutable_residual_blocks(); + vector<int> residual_blocks_per_e_block(size_of_first_elimination_group + 1); + vector<ResidualBlock*>* residual_blocks = program->mutable_residual_blocks(); vector<int> min_position_per_residual(residual_blocks->size()); for (int i = 0; i < residual_blocks->size(); ++i) { ResidualBlock* residual_block = (*residual_blocks)[i]; @@ -415,8 +413,7 @@ Eigen::PermutationMatrix<Eigen::Dynamic, Eigen::Dynamic, int> perm; amd_ordering(block_schur_complement, perm); - const vector<ParameterBlock*>& parameter_blocks = - program->parameter_blocks(); + const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks(); vector<ParameterBlock*> ordering(num_cols); // The ordering of the first size_of_first_elimination_group does
diff --git a/internal/ceres/reorder_program_test.cc b/internal/ceres/reorder_program_test.cc index 74b4a1d..77db982 100644 --- a/internal/ceres/reorder_program_test.cc +++ b/internal/ceres/reorder_program_test.cc
@@ -160,8 +160,7 @@ linear_solver_ordering, program, &message)); - const vector<ParameterBlock*>& parameter_blocks = - program->parameter_blocks(); + const vector<ParameterBlock*>& parameter_blocks = program->parameter_blocks(); EXPECT_EQ(parameter_blocks.size(), 3); EXPECT_EQ(parameter_blocks[0]->user_state(), &x);
diff --git a/internal/ceres/rotation_test.cc b/internal/ceres/rotation_test.cc index 1cf0236..d92ec5f 100644 --- a/internal/ceres/rotation_test.cc +++ b/internal/ceres/rotation_test.cc
@@ -44,6 +44,10 @@ namespace ceres { namespace internal { +using std::min; +using std::max; +using std::numeric_limits; +using std::string; using std::swap; const double kPi = 3.14159265358979323846; @@ -55,7 +59,7 @@ } // A tolerance value for floating-point comparisons. -static double const kTolerance = std::numeric_limits<double>::epsilon() * 10; +static double const kTolerance = numeric_limits<double>::epsilon() * 10; // Looser tolerance used for numerically unstable conversions. static double const kLooseTolerance = 1e-9; @@ -142,12 +146,12 @@ Eigen::Vector3d e(expected[0], expected[1], expected[2]); const double e_norm = e.norm(); - double delta_norm = std::numeric_limits<double>::max(); + double delta_norm = numeric_limits<double>::max(); if (e_norm > 0) { // Deal with the sign ambiguity near PI. Since the sign can flip, // we take the smaller of the two differences. if (fabs(e_norm - kPi) < kLooseTolerance) { - delta_norm = std::min((a - e).norm(), (a + e).norm()) / e_norm; + delta_norm = min((a - e).norm(), (a + e).norm()) / e_norm; } else { delta_norm = (a - e).norm() / e_norm; } @@ -243,7 +247,7 @@ // Test that approximate conversion works for very small angles. TEST(Rotation, TinyAngleAxisToQuaternion) { // Very small value that could potentially cause underflow. - double theta = pow(std::numeric_limits<double>::min(), 0.75); + double theta = pow(numeric_limits<double>::min(), 0.75); double axis_angle[3] = { theta, 0, 0 }; double quaternion[4]; double expected[4] = { cos(theta/2), sin(theta/2.0), 0, 0 }; @@ -304,7 +308,7 @@ // Test that approximate conversion works for very small angles. TEST(Rotation, TinyQuaternionToAngleAxis) { // Very small value that could potentially cause underflow. - double theta = pow(std::numeric_limits<double>::min(), 0.75); + double theta = pow(numeric_limits<double>::min(), 0.75); double quaternion[4] = { cos(theta/2), sin(theta/2.0), 0, 0 }; double axis_angle[3]; double expected[3] = { theta, 0, 0 }; @@ -503,7 +507,7 @@ LOG(INFO) << "Rotation:"; LOG(INFO) << "EXPECTED | ACTUAL"; for (int i = 0; i < 3; ++i) { - std::string line; + string line; for (int j = 0; j < 3; ++j) { StringAppendF(&line, "%g ", kMatrix[i][j]); } @@ -598,7 +602,7 @@ for (int i = 0; i < 3; ++i) { EXPECT_NEAR(round_trip[i], axis_angle[i], - std::numeric_limits<double>::epsilon()); + numeric_limits<double>::epsilon()); } } } @@ -701,7 +705,7 @@ if (x == 0 || y == 0) { return absdiff <= kTolerance; } - double reldiff = absdiff / std::max(fabs(x), fabs(y)); + double reldiff = absdiff / max(fabs(x), fabs(y)); return reldiff <= kTolerance; } @@ -737,11 +741,11 @@ // Log-10 of a value well below machine precision. static const int kSmallTinyCutoff = - static_cast<int>(2 * log(std::numeric_limits<double>::epsilon())/log(10.0)); + static_cast<int>(2 * log(numeric_limits<double>::epsilon())/log(10.0)); // Log-10 of a value just below values representable by double. static const int kTinyZeroLimit = - static_cast<int>(1 + log(std::numeric_limits<double>::min())/log(10.0)); + static_cast<int>(1 + log(numeric_limits<double>::min())/log(10.0)); // Test that exact conversion works for small angles when jets are used. TEST(Rotation, SmallAngleAxisToQuaternionForJets) {
diff --git a/internal/ceres/solver.cc b/internal/ceres/solver.cc index c6414b5..b08bbfe 100644 --- a/internal/ceres/solver.cc +++ b/internal/ceres/solver.cc
@@ -154,15 +154,11 @@ *error = "Can't use DENSE_NORMAL_CHOLESKY with LAPACK because " "LAPACK was not enabled when Ceres was built."; return false; - } - - if (options.linear_solver_type == DENSE_QR) { + } else if (options.linear_solver_type == DENSE_QR) { *error = "Can't use DENSE_QR with LAPACK because " "LAPACK was not enabled when Ceres was built."; return false; - } - - if (options.linear_solver_type == DENSE_SCHUR) { + } else if (options.linear_solver_type == DENSE_SCHUR) { *error = "Can't use DENSE_SCHUR with LAPACK because " "LAPACK was not enabled when Ceres was built."; return false; @@ -176,21 +172,15 @@ *error = "Can't use SPARSE_NORMAL_CHOLESKY with SUITESPARSE because " "SuiteSparse was not enabled when Ceres was built."; return false; - } - - if (options.linear_solver_type == SPARSE_SCHUR) { + } else if (options.linear_solver_type == SPARSE_SCHUR) { *error = "Can't use SPARSE_SCHUR with SUITESPARSE because " "SuiteSparse was not enabled when Ceres was built."; return false; - } - - if (options.preconditioner_type == CLUSTER_JACOBI) { + } else if (options.preconditioner_type == CLUSTER_JACOBI) { *error = "CLUSTER_JACOBI preconditioner not supported. " "SuiteSparse was not enabled when Ceres was built."; return false; - } - - if (options.preconditioner_type == CLUSTER_TRIDIAGONAL) { + } else if (options.preconditioner_type == CLUSTER_TRIDIAGONAL) { *error = "CLUSTER_TRIDIAGONAL preconditioner not supported. " "SuiteSparse was not enabled when Ceres was built."; return false; @@ -204,9 +194,7 @@ *error = "Can't use SPARSE_NORMAL_CHOLESKY with CX_SPARSE because " "CXSparse was not enabled when Ceres was built."; return false; - } - - if (options.linear_solver_type == SPARSE_SCHUR) { + } else if (options.linear_solver_type == SPARSE_SCHUR) { *error = "Can't use SPARSE_SCHUR with CX_SPARSE because " "CXSparse was not enabled when Ceres was built."; return false; @@ -221,9 +209,7 @@ "Eigen's sparse linear algebra was not enabled when Ceres was " "built."; return false; - } - - if (options.linear_solver_type == SPARSE_SCHUR) { + } else if (options.linear_solver_type == SPARSE_SCHUR) { *error = "Can't use SPARSE_SCHUR with EIGEN_SPARSE because " "Eigen's sparse linear algebra was not enabled when Ceres was " "built."; @@ -237,9 +223,7 @@ *error = "Can't use SPARSE_NORMAL_CHOLESKY as " "sparse_linear_algebra_library_type is NO_SPARSE."; return false; - } - - if (options.linear_solver_type == SPARSE_SCHUR) { + } else if (options.linear_solver_type == SPARSE_SCHUR) { *error = "Can't use SPARSE_SCHUR as " "sparse_linear_algebra_library_type is NO_SPARSE."; return false;
diff --git a/internal/ceres/visibility_based_preconditioner.h b/internal/ceres/visibility_based_preconditioner.h index 10959d6..f898c30 100644 --- a/internal/ceres/visibility_based_preconditioner.h +++ b/internal/ceres/visibility_based_preconditioner.h
@@ -151,7 +151,7 @@ LinearSolverTerminationType Factorize(); void ScaleOffDiagonalCells(); - void ClusterCameras(const std::vector< std::set<int> >& visibility); + void ClusterCameras(const std::vector<std::set<int> >& visibility); void FlattenMembershipMap(const HashMap<int, int>& membership_map, std::vector<int>* membership_vector) const; void ComputeClusterVisibility(