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ceres-solver/ceres-solver/e49507cbea331d1ce737e66522ea260d7a9b9939^!/.
commit
e49507cbea331d1ce737e66522ea260d7a9b9939
[log] [tgz]
author
Sameer Agarwal <sameeragarwal@google.com>
Tue Apr 03 10:41:01 2018 -0700
committer
Sameer Agarwal <sameeragarwal@google.com>
Tue Apr 03 10:58:15 2018 -0700
tree
5f6de1b7973d2e34e78781425898b34a5dd6c1bc
parent
af77d3e676a01fa71fc4c006c18f52d4ab2d8062 [diff]
More C++ification.

"> >" -> ">>"
"> > >" -> ">>>"

Change-Id: Id1ddd9dbf030fe21d57207741b4ca8403068e55b

diff --git a/include/ceres/covariance.h b/include/ceres/covariance.h
index 971175c..a8061b5 100644
--- a/include/ceres/covariance.h
+++ b/include/ceres/covariance.h

@@ -183,7 +183,7 @@
 //  Covariance::Options options;
 //  Covariance covariance(options);
 //
-//  std::vector<std::pair<const double*, const double*> > covariance_blocks;
+//  std::vector<std::pair<const double*, const double*>> covariance_blocks;
 //  covariance_blocks.push_back(make_pair(x, x));
 //  covariance_blocks.push_back(make_pair(y, y));
 //  covariance_blocks.push_back(make_pair(x, y));
@@ -360,7 +360,7 @@
   // function returns false.
   bool Compute(
       const std::vector<std::pair<const double*,
-                                  const double*> >& covariance_blocks,
+                                  const double*>>& covariance_blocks,
       Problem* problem);
 
   // Compute a part of the covariance matrix.

diff --git a/include/ceres/cubic_interpolation.h b/include/ceres/cubic_interpolation.h
index 9804a33..88a3ebf 100644
--- a/include/ceres/cubic_interpolation.h
+++ b/include/ceres/cubic_interpolation.h

@@ -117,7 +117,7 @@
 //
 //  const double data[] = {1.0, 2.0, 5.0, 6.0};
 //  Grid1D<double, 1> grid(x, 0, 4);
-//  CubicInterpolator<Grid1D<double, 1> > interpolator(grid);
+//  CubicInterpolator<Grid1D<double, 1>> interpolator(grid);
 //  double f, dfdx;
 //  interpolator.Evaluator(1.5, &f, &dfdx);
 template<typename Grid>
@@ -248,7 +248,7 @@
 //                         3.6, 2.1,  4.2, 2.0,
 //                        2.0, 1.0,  3.1, 5.2};
 //  Grid2D<double, 1>  grid(data, 3, 4);
-//  BiCubicInterpolator<Grid2D<double, 1> > interpolator(grid);
+//  BiCubicInterpolator<Grid2D<double, 1>> interpolator(grid);
 //  double f, dfdr, dfdc;
 //  interpolator.Evaluate(1.2, 2.5, &f, &dfdr, &dfdc);
 

diff --git a/include/ceres/dynamic_autodiff_cost_function.h b/include/ceres/dynamic_autodiff_cost_function.h
index f1eb0d3..2d66f3f 100644
--- a/include/ceres/dynamic_autodiff_cost_function.h
+++ b/include/ceres/dynamic_autodiff_cost_function.h

@@ -112,8 +112,8 @@
                                                0);
 
     // Allocate scratch space for the strided evaluation.
-    std::vector<Jet<double, Stride> > input_jets(num_parameters);
-    std::vector<Jet<double, Stride> > output_jets(num_residuals());
+    std::vector<Jet<double, Stride>> input_jets(num_parameters);
+    std::vector<Jet<double, Stride>> output_jets(num_residuals());
 
     // Make the parameter pack that is sent to the functor (reused).
     std::vector<Jet<double, Stride>* > jet_parameters(num_parameter_blocks,

diff --git a/include/ceres/internal/autodiff.h b/include/ceres/internal/autodiff.h
index 21f3b92..92542a4 100644
--- a/include/ceres/internal/autodiff.h
+++ b/include/ceres/internal/autodiff.h

@@ -193,7 +193,7 @@
   DCHECK(src);
   DCHECK(dst);
   for (int i = 0; i < M; ++i) {
-    Eigen::Map<Eigen::Matrix<T, N, 1> >(dst + N * i, N) =
+    Eigen::Map<Eigen::Matrix<T, N, 1>>(dst + N * i, N) =
         src[i].v.template segment<N>(N0);
   }
 }

diff --git a/include/ceres/internal/eigen.h b/include/ceres/internal/eigen.h
index 7853ea7..59545df 100644
--- a/include/ceres/internal/eigen.h
+++ b/include/ceres/internal/eigen.h

@@ -52,15 +52,15 @@
                       Eigen::ColMajor> ColMajorMatrix;
 
 typedef Eigen::Map<ColMajorMatrix, 0,
-                   Eigen::Stride<Eigen::Dynamic, 1> > ColMajorMatrixRef;
+                   Eigen::Stride<Eigen::Dynamic, 1>> ColMajorMatrixRef;
 
 typedef Eigen::Map<const ColMajorMatrix,
                    0,
-                   Eigen::Stride<Eigen::Dynamic, 1> > ConstColMajorMatrixRef;
+                   Eigen::Stride<Eigen::Dynamic, 1>> ConstColMajorMatrixRef;
 
 // C++ does not support templated typdefs, thus the need for this
 // struct so that we can support statically sized Matrix and Maps.
-template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
+ template <int num_rows = Eigen::Dynamic, int num_cols = Eigen::Dynamic>
 struct EigenTypes {
   typedef Eigen::Matrix<double,
                         num_rows,
@@ -71,8 +71,8 @@
   typedef Eigen::Map<Matrix> MatrixRef;
   typedef Eigen::Map<const Matrix> ConstMatrixRef;
   typedef Eigen::Matrix<double, num_rows, 1> Vector;
-  typedef Eigen::Map<Eigen::Matrix<double, num_rows, 1> > VectorRef;
-  typedef Eigen::Map<const Eigen::Matrix<double, num_rows, 1> > ConstVectorRef;
+  typedef Eigen::Map<Eigen::Matrix<double, num_rows, 1>> VectorRef;
+  typedef Eigen::Map<const Eigen::Matrix<double, num_rows, 1>> ConstVectorRef;
 };
 
 }  // namespace ceres

diff --git a/include/ceres/jet.h b/include/ceres/jet.h
index 5b56d86..d3edeac 100644
--- a/include/ceres/jet.h
+++ b/include/ceres/jet.h

@@ -912,7 +912,7 @@
 // Creating a specialization of NumTraits enables placing Jet objects inside
 // Eigen arrays, getting all the goodness of Eigen combined with autodiff.
 template<typename T, int N>
-struct NumTraits<ceres::Jet<T, N> > {
+struct NumTraits<ceres::Jet<T, N>> {
   typedef ceres::Jet<T, N> Real;
   typedef ceres::Jet<T, N> NonInteger;
   typedef ceres::Jet<T, N> Nested;

diff --git a/include/ceres/ordered_groups.h b/include/ceres/ordered_groups.h
index aa1bd3a..3ff459e 100644
--- a/include/ceres/ordered_groups.h
+++ b/include/ceres/ordered_groups.h

@@ -126,9 +126,9 @@
       return;
     }
 
-    typename std::map<int, std::set<T> >::reverse_iterator it =
+    typename std::map<int, std::set<T>>::reverse_iterator it =
         group_to_elements_.rbegin();
-    std::map<int, std::set<T> > new_group_to_elements;
+    std::map<int, std::set<T>> new_group_to_elements;
     new_group_to_elements[it->first] = it->second;
 
     int new_group_id = it->first + 1;
@@ -165,7 +165,7 @@
   // This function always succeeds, i.e., implicitly there exists a
   // group for every integer.
   int GroupSize(const int group) const {
-    typename std::map<int, std::set<T> >::const_iterator it =
+    typename std::map<int, std::set<T>>::const_iterator it =
         group_to_elements_.find(group);
     return (it ==  group_to_elements_.end()) ? 0 : it->second.size();
   }
@@ -187,7 +187,7 @@
     return group_to_elements_.begin()->first;
   }
 
-  const std::map<int, std::set<T> >& group_to_elements() const {
+  const std::map<int, std::set<T>>& group_to_elements() const {
     return group_to_elements_;
   }
 
@@ -196,7 +196,7 @@
   }
 
  private:
-  std::map<int, std::set<T> > group_to_elements_;
+  std::map<int, std::set<T>> group_to_elements_;
   std::map<T, int> element_to_group_;
 };
 

diff --git a/include/ceres/tiny_solver.h b/include/ceres/tiny_solver.h
index c55375e..3cf1c32 100644
--- a/include/ceres/tiny_solver.h
+++ b/include/ceres/tiny_solver.h

@@ -128,7 +128,7 @@
          typename LinearSolver = Eigen::LDLT<
            Eigen::Matrix<typename Function::Scalar,
                          Function::NUM_PARAMETERS,
-                         Function::NUM_PARAMETERS> > >
+                         Function::NUM_PARAMETERS>>>
 class TinySolver {
  public:
   enum {

diff --git a/include/ceres/tiny_solver_autodiff_function.h b/include/ceres/tiny_solver_autodiff_function.h
index 6bdb2ac..c54a6e5 100644
--- a/include/ceres/tiny_solver_autodiff_function.h
+++ b/include/ceres/tiny_solver_autodiff_function.h

@@ -115,7 +115,7 @@
     // Copy the jacobian out of the derivative part of the residual jets.
     Eigen::Map<Eigen::Matrix<T,
                              kNumResiduals,
-                             kNumParameters> > jacobian_matrix(jacobian);
+                             kNumParameters>> jacobian_matrix(jacobian);
     for (int r = 0; r < kNumResiduals; ++r) {
       residuals[r] = jet_residuals_[r].a;
       // Note that while this looks like a fast vectorized write, in practice it

diff --git a/include/ceres/tiny_solver_cost_function_adapter.h b/include/ceres/tiny_solver_cost_function_adapter.h
index e3217d0..d44bdeb 100644
--- a/include/ceres/tiny_solver_cost_function_adapter.h
+++ b/include/ceres/tiny_solver_cost_function_adapter.h

@@ -116,7 +116,7 @@
     // column-major layout, and the CostFunction objects use row-major
     // Jacobian matrices. So the following bit of code does the
     // conversion from row-major Jacobians to column-major Jacobians.
-    Eigen::Map<Eigen::Matrix<double, NUM_RESIDUALS, NUM_PARAMETERS> >
+    Eigen::Map<Eigen::Matrix<double, NUM_RESIDUALS, NUM_PARAMETERS>>
         col_major_jacobian(jacobian, NumResiduals(), NumParameters());
     col_major_jacobian = row_major_jacobian_;
     return true;

diff --git a/internal/ceres/block_random_access_sparse_matrix.cc b/internal/ceres/block_random_access_sparse_matrix.cc
index a822d69..9c16454 100644
--- a/internal/ceres/block_random_access_sparse_matrix.cc
+++ b/internal/ceres/block_random_access_sparse_matrix.cc

@@ -51,7 +51,7 @@
 
 BlockRandomAccessSparseMatrix::BlockRandomAccessSparseMatrix(
     const vector<int>& blocks,
-    const set<pair<int, int> >& block_pairs)
+    const set<pair<int, int>>& block_pairs)
     : kMaxRowBlocks(10 * 1000 * 1000),
       blocks_(blocks) {
   CHECK_LT(blocks.size(), kMaxRowBlocks);

diff --git a/internal/ceres/block_random_access_sparse_matrix.h b/internal/ceres/block_random_access_sparse_matrix.h
index fb24900..5520d49 100644
--- a/internal/ceres/block_random_access_sparse_matrix.h
+++ b/internal/ceres/block_random_access_sparse_matrix.h

@@ -59,7 +59,7 @@
   // of this matrix.
   BlockRandomAccessSparseMatrix(
       const std::vector<int>& blocks,
-      const std::set<std::pair<int, int> >& block_pairs);
+      const std::set<std::pair<int, int>>& block_pairs);
 
   // The destructor is not thread safe. It assumes that no one is
   // modifying any cells when the matrix is being destroyed.
@@ -115,7 +115,7 @@
   // In order traversal of contents of the matrix. This allows us to
   // implement a matrix-vector which is 20% faster than using the
   // iterator in the Layout object instead.
-  std::vector<std::pair<std::pair<int, int>, double*> > cell_values_;
+  std::vector<std::pair<std::pair<int, int>, double*>> cell_values_;
   // The underlying matrix object which actually stores the cells.
   std::unique_ptr<TripletSparseMatrix> tsm_;
 

diff --git a/internal/ceres/block_random_access_sparse_matrix_test.cc b/internal/ceres/block_random_access_sparse_matrix_test.cc
index c5816d5..bae33b9 100644
--- a/internal/ceres/block_random_access_sparse_matrix_test.cc
+++ b/internal/ceres/block_random_access_sparse_matrix_test.cc

@@ -52,7 +52,7 @@
   blocks.push_back(5);
   const int num_rows = 3 + 4 + 5;
 
-  set< pair<int, int> > block_pairs;
+  set<pair<int, int>> block_pairs;
   int num_nonzeros = 0;
   block_pairs.insert(make_pair(0, 0));
   num_nonzeros += blocks[0] * blocks[0];
@@ -142,7 +142,7 @@
   virtual void SetUp() {
     vector<int> blocks;
     blocks.push_back(1);
-    set< pair<int, int> > block_pairs;
+    set<pair<int, int>> block_pairs;
     block_pairs.insert(make_pair(0, 0));
     m_.reset(new BlockRandomAccessSparseMatrix(blocks, block_pairs));
   }

diff --git a/internal/ceres/compressed_col_sparse_matrix_utils_test.cc b/internal/ceres/compressed_col_sparse_matrix_utils_test.cc
index 47a98c2..2162b9f 100644
--- a/internal/ceres/compressed_col_sparse_matrix_utils_test.cc
+++ b/internal/ceres/compressed_col_sparse_matrix_utils_test.cc

@@ -91,7 +91,7 @@
                const vector<int>& col_blocks,
                const int row_block_id,
                const int col_block_id,
-               vector<Eigen::Triplet<double> >* triplets) {
+               vector<Eigen::Triplet<double>>* triplets) {
   const int row_offset = std::accumulate(&row_blocks[0], &row_blocks[row_block_id], 0);
   const int col_offset = std::accumulate(&col_blocks[0], &col_blocks[col_block_id], 0);
   for (int r = 0; r < row_blocks[row_block_id]; ++r) {
@@ -125,7 +125,7 @@
   const int num_rows = std::accumulate(row_blocks.begin(), row_blocks.end(), 0.0);
   const int num_cols = std::accumulate(col_blocks.begin(), col_blocks.end(), 0.0);
 
-  vector<Eigen::Triplet<double> > triplets;
+  vector<Eigen::Triplet<double>> triplets;
   FillBlock(row_blocks, col_blocks, 0, 0, &triplets);
   FillBlock(row_blocks, col_blocks, 2, 0, &triplets);
   FillBlock(row_blocks, col_blocks, 1, 1, &triplets);

diff --git a/internal/ceres/compressed_row_jacobian_writer.cc b/internal/ceres/compressed_row_jacobian_writer.cc
index 0444d45..1fc0116 100644
--- a/internal/ceres/compressed_row_jacobian_writer.cc
+++ b/internal/ceres/compressed_row_jacobian_writer.cc

@@ -71,7 +71,7 @@
 void CompressedRowJacobianWriter::GetOrderedParameterBlocks(
       const Program* program,
       int residual_id,
-      vector<pair<int, int> >* evaluated_jacobian_blocks) {
+      vector<pair<int, int>>* evaluated_jacobian_blocks) {
   const ResidualBlock* residual_block =
       program->residual_blocks()[residual_id];
   const int num_parameter_blocks = residual_block->NumParameterBlocks();
@@ -208,7 +208,7 @@
       program_->residual_blocks()[residual_id];
   const int num_residuals = residual_block->NumResiduals();
 
-  vector<pair<int, int> > evaluated_jacobian_blocks;
+  vector<pair<int, int>> evaluated_jacobian_blocks;
   GetOrderedParameterBlocks(program_, residual_id, &evaluated_jacobian_blocks);
 
   // Where in the current row does the jacobian for a parameter block begin.

diff --git a/internal/ceres/compressed_row_jacobian_writer.h b/internal/ceres/compressed_row_jacobian_writer.h
index 1cd0123..9fb414e 100644
--- a/internal/ceres/compressed_row_jacobian_writer.h
+++ b/internal/ceres/compressed_row_jacobian_writer.h

@@ -83,7 +83,7 @@
   static void GetOrderedParameterBlocks(
       const Program* program,
       int residual_id,
-      std::vector<std::pair<int, int> >* evaluated_jacobian_blocks);
+      std::vector<std::pair<int, int>>* evaluated_jacobian_blocks);
 
   // JacobianWriter interface.
 

diff --git a/internal/ceres/coordinate_descent_minimizer.cc b/internal/ceres/coordinate_descent_minimizer.cc
index 48fd04c..087f01f 100644
--- a/internal/ceres/coordinate_descent_minimizer.cc
+++ b/internal/ceres/coordinate_descent_minimizer.cc

@@ -81,7 +81,7 @@
   // Serialize the OrderedGroups into a vector of parameter block
   // offsets for parallel access.
   map<ParameterBlock*, int> parameter_block_index;
-  map<int, set<double*> > group_to_elements = ordering.group_to_elements();
+  map<int, set<double*>> group_to_elements = ordering.group_to_elements();
   for (const auto& g_t_e : group_to_elements) {
     const auto& elements = g_t_e.second;
     for (double* parameter_block: elements) {
@@ -261,7 +261,7 @@
     const Program& program,
     const ParameterBlockOrdering& ordering,
     string* message) {
-  const map<int, set<double*> >& group_to_elements =
+  const map<int, set<double*>>& group_to_elements =
       ordering.group_to_elements();
 
   // Verify that each group is an independent set

diff --git a/internal/ceres/coordinate_descent_minimizer.h b/internal/ceres/coordinate_descent_minimizer.h
index 0ee193f..3bbcc2d 100644
--- a/internal/ceres/coordinate_descent_minimizer.h
+++ b/internal/ceres/coordinate_descent_minimizer.h

@@ -90,7 +90,7 @@
              Solver::Summary* summary);
 
   std::vector<ParameterBlock*> parameter_blocks_;
-  std::vector<std::vector<ResidualBlock*> > residual_blocks_;
+  std::vector<std::vector<ResidualBlock*>> residual_blocks_;
   // The optimization is performed in rounds. In each round all the
   // parameter blocks that form one independent set are optimized in
   // parallel. This array, marks the boundaries of the independent

diff --git a/internal/ceres/covariance.cc b/internal/ceres/covariance.cc
index cb280a3..068cd9c 100644
--- a/internal/ceres/covariance.cc
+++ b/internal/ceres/covariance.cc

@@ -50,7 +50,7 @@
 }
 
 bool Covariance::Compute(
-    const vector<pair<const double*, const double*> >& covariance_blocks,
+    const vector<pair<const double*, const double*>>& covariance_blocks,
     Problem* problem) {
   return impl_->Compute(covariance_blocks, problem->problem_impl_.get());
 }

diff --git a/internal/ceres/covariance_impl.cc b/internal/ceres/covariance_impl.cc
index 70719b0..2552416 100644
--- a/internal/ceres/covariance_impl.cc
+++ b/internal/ceres/covariance_impl.cc

@@ -73,7 +73,7 @@
 using std::swap;
 using std::vector;
 
-typedef vector<pair<const double*, const double*> > CovarianceBlocks;
+typedef vector<pair<const double*, const double*>> CovarianceBlocks;
 
 CovarianceImpl::CovarianceImpl(const Covariance::Options& options)
     : options_(options),
@@ -102,7 +102,7 @@
       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;
+    map<T, vector<int>> blocks_map;
     for (int i = 0; i < blocks.size(); ++i) {
       blocks_map[blocks[i]].push_back(i);
     }
@@ -127,7 +127,7 @@
 
 bool CovarianceImpl::Compute(const CovarianceBlocks& covariance_blocks,
                              ProblemImpl* problem) {
-  CheckForDuplicates<pair<const double*, const double*> >(covariance_blocks);
+  CheckForDuplicates<pair<const double*, const double*>>(covariance_blocks);
   problem_ = problem;
   parameter_block_to_row_index_.clear();
   covariance_matrix_.reset(NULL);
@@ -881,7 +881,7 @@
           jacobian.rows.data(), jacobian.cols.data(), jacobian.values.data());
   event_logger.AddEvent("ConvertToSparseMatrix");
 
-  Eigen::SparseQR<EigenSparseMatrix, Eigen::COLAMDOrdering<int> >
+  Eigen::SparseQR<EigenSparseMatrix, Eigen::COLAMDOrdering<int>>
       qr_solver(sparse_jacobian);
   event_logger.AddEvent("QRDecomposition");
 

diff --git a/internal/ceres/covariance_impl.h b/internal/ceres/covariance_impl.h
index c3a9bc1..065e43c 100644
--- a/internal/ceres/covariance_impl.h
+++ b/internal/ceres/covariance_impl.h

@@ -52,7 +52,7 @@
 
   bool Compute(
       const std::vector<std::pair<const double*,
-                                  const double*> >& covariance_blocks,
+                                  const double*>>& covariance_blocks,
       ProblemImpl* problem);
 
   bool Compute(
@@ -72,7 +72,7 @@
 
   bool ComputeCovarianceSparsity(
       const std::vector<std::pair<const double*,
-                                  const double*> >& covariance_blocks,
+                                  const double*>>& covariance_blocks,
       ProblemImpl* problem);
 
   bool ComputeCovarianceValues();

diff --git a/internal/ceres/covariance_test.cc b/internal/ceres/covariance_test.cc
index afa9bb6..9c55136 100644
--- a/internal/ceres/covariance_test.cc
+++ b/internal/ceres/covariance_test.cc

@@ -204,7 +204,7 @@
                          6, 7, 8, 9};
 
 
-  vector<pair<const double*, const double*> > covariance_blocks;
+  vector<pair<const double*, const double*>> covariance_blocks;
   covariance_blocks.push_back(make_pair(block1, block1));
   covariance_blocks.push_back(make_pair(block4, block4));
   covariance_blocks.push_back(make_pair(block2, block2));
@@ -287,7 +287,7 @@
                          3, 4, 5, 6,
                          3, 4, 5, 6};
 
-  vector<pair<const double*, const double*> > covariance_blocks;
+  vector<pair<const double*, const double*>> covariance_blocks;
   covariance_blocks.push_back(make_pair(block1, block1));
   covariance_blocks.push_back(make_pair(block4, block4));
   covariance_blocks.push_back(make_pair(block2, block2));
@@ -368,7 +368,7 @@
                          3, 4, 5, 6,
                          3, 4, 5, 6};
 
-  vector<pair<const double*, const double*> > covariance_blocks;
+  vector<pair<const double*, const double*>> covariance_blocks;
   covariance_blocks.push_back(make_pair(block1, block1));
   covariance_blocks.push_back(make_pair(block4, block4));
   covariance_blocks.push_back(make_pair(block2, block2));
@@ -406,7 +406,7 @@
 
 class CovarianceTest : public ::testing::Test {
  protected:
-  typedef map<const double*, pair<int, int> > BoundsMap;
+  typedef map<const double*, pair<int, int>> BoundsMap;
 
   virtual void SetUp() {
     double* x = parameters_;
@@ -495,7 +495,7 @@
     // Generate all possible combination of block pairs and check if the
     // covariance computation is correct.
     for (int i = 0; i <= 64; ++i) {
-      vector<pair<const double*, const double*> > covariance_blocks;
+      vector<pair<const double*, const double*>> covariance_blocks;
       if (i & 1) {
         covariance_blocks.push_back(all_covariance_blocks_[0]);
       }
@@ -590,7 +590,7 @@
 
   double parameters_[6];
   Problem problem_;
-  vector<pair<const double*, const double*> > all_covariance_blocks_;
+  vector<pair<const double*, const double*>> all_covariance_blocks_;
   BoundsMap column_bounds_;
   BoundsMap local_column_bounds_;
 };
@@ -1089,7 +1089,7 @@
   EXPECT_DEATH_IF_SUPPORTED(covariance.Compute(parameter_blocks, &problem_),
                             "Covariance::Compute called with duplicate blocks "
                             "at indices \\(0, 1\\) and \\(2, 3\\)");
-  vector<pair<const double*, const double*> > covariance_blocks;
+  vector<pair<const double*, const double*>> covariance_blocks;
   covariance_blocks.push_back(make_pair(x, x));
   covariance_blocks.push_back(make_pair(x, x));
   covariance_blocks.push_back(make_pair(y, y));
@@ -1263,7 +1263,7 @@
   int num_parameter_blocks_;
 
   Problem problem_;
-  vector<pair<const double*, const double*> > all_covariance_blocks_;
+  vector<pair<const double*, const double*>> all_covariance_blocks_;
 };
 
 #if !defined(CERES_NO_SUITESPARSE) && defined(CERES_USE_OPENMP)

diff --git a/internal/ceres/cubic_interpolation_test.cc b/internal/ceres/cubic_interpolation_test.cc
index fd56016..d68af22 100644
--- a/internal/ceres/cubic_interpolation_test.cc
+++ b/internal/ceres/cubic_interpolation_test.cc

@@ -220,7 +220,7 @@
     }
 
     Grid1D<double, kDataDimension> grid(values_.get(), 0, kNumSamples);
-    CubicInterpolator<Grid1D<double, kDataDimension> > interpolator(grid);
+    CubicInterpolator<Grid1D<double, kDataDimension>> interpolator(grid);
 
     // Check values in the all the cells but the first and the last
     // ones. In these cells, the interpolated function values should
@@ -283,7 +283,7 @@
   const double values[] = {1.0, 2.0, 2.0, 5.0, 3.0, 9.0, 2.0, 7.0};
 
   Grid1D<double, 2, true> grid(values, 0, 4);
-  CubicInterpolator<Grid1D<double, 2, true> > interpolator(grid);
+  CubicInterpolator<Grid1D<double, 2, true>> interpolator(grid);
 
   double f[2], dfdx[2];
   const double x = 2.5;
@@ -327,7 +327,7 @@
     }
 
     Grid2D<double, kDataDimension> grid(values_.get(), 0, kNumRows, 0, kNumCols);
-    BiCubicInterpolator<Grid2D<double, kDataDimension> > interpolator(grid);
+    BiCubicInterpolator<Grid2D<double, kDataDimension>> interpolator(grid);
 
     for (int j = 0; j < kNumRowSamples; ++j) {
       const double r = 1.0 + 7.0 / (kNumRowSamples - 1) * j;
@@ -471,7 +471,7 @@
                            1.0, 2.0, 2.0,  2.0, 2.0, 2.0, 3.0, 1.0};
 
   Grid2D<double, 2> grid(values, 0, 2, 0, 4);
-  BiCubicInterpolator<Grid2D<double, 2> > interpolator(grid);
+  BiCubicInterpolator<Grid2D<double, 2>> interpolator(grid);
 
   double f[2], dfdr[2], dfdc[2];
   const double r = 0.5;

diff --git a/internal/ceres/dynamic_autodiff_cost_function_test.cc b/internal/ceres/dynamic_autodiff_cost_function_test.cc
index 626cdee..29f8d10 100644
--- a/internal/ceres/dynamic_autodiff_cost_function_test.cc
+++ b/internal/ceres/dynamic_autodiff_cost_function_test.cc

@@ -119,7 +119,7 @@
   parameter_blocks[1] = &param_block_1[0];
 
   // Prepare the jacobian.
-  vector<vector<double> > jacobian_vect(2);
+  vector<vector<double>> jacobian_vect(2);
   jacobian_vect[0].resize(21 * 10, -100000);
   jacobian_vect[1].resize(21 * 5, -100000);
   vector<double*> jacobian;
@@ -186,7 +186,7 @@
   parameter_blocks[1] = &param_block_1[0];
 
   // Prepare the jacobian.
-  vector<vector<double> > jacobian_vect(2);
+  vector<vector<double>> jacobian_vect(2);
   jacobian_vect[0].resize(21 * 10, -100000);
   jacobian_vect[1].resize(21 * 5, -100000);
   vector<double*> jacobian;
@@ -236,7 +236,7 @@
   parameter_blocks[1] = &param_block_1[0];
 
   // Prepare the jacobian.
-  vector<vector<double> > jacobian_vect(2);
+  vector<vector<double>> jacobian_vect(2);
   jacobian_vect[0].resize(21 * 10, -100000);
   jacobian_vect[1].resize(21 * 5, -100000);
   vector<double*> jacobian;
@@ -420,7 +420,7 @@
 
   std::unique_ptr<CostFunction> cost_function_;
 
-  vector<vector<double> > jacobian_vect_;
+  vector<vector<double>> jacobian_vect_;
 
   vector<double> expected_residuals_;
 
@@ -667,10 +667,10 @@
 
   std::unique_ptr<CostFunction> cost_function_;
 
-  vector<vector<double> > jacobian_vect_;
+  vector<vector<double>> jacobian_vect_;
 
   vector<double> expected_residuals_;
-  vector<vector<double> > expected_jacobians_;
+  vector<vector<double>> expected_jacobians_;
 };
 
 TEST_F(SixParameterCostFunctorTest, TestSixParameterResiduals) {

diff --git a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
index 4f89145..acc372a 100644
--- a/internal/ceres/dynamic_compressed_row_jacobian_writer.cc
+++ b/internal/ceres/dynamic_compressed_row_jacobian_writer.cc

@@ -67,7 +67,7 @@
       program_->residual_blocks()[residual_id];
   const int num_residuals = residual_block->NumResiduals();
 
-  vector<pair<int, int> > evaluated_jacobian_blocks;
+  vector<pair<int, int>> evaluated_jacobian_blocks;
   CompressedRowJacobianWriter::GetOrderedParameterBlocks(
       program_, residual_id, &evaluated_jacobian_blocks);
 

diff --git a/internal/ceres/dynamic_compressed_row_sparse_matrix.h b/internal/ceres/dynamic_compressed_row_sparse_matrix.h
index cab860b..ad41da7 100644
--- a/internal/ceres/dynamic_compressed_row_sparse_matrix.h
+++ b/internal/ceres/dynamic_compressed_row_sparse_matrix.h

@@ -91,8 +91,8 @@
   void Finalize(int num_additional_elements);
 
  private:
-  std::vector<std::vector<int> > dynamic_cols_;
-  std::vector<std::vector<double> > dynamic_values_;
+  std::vector<std::vector<int>> dynamic_cols_;
+  std::vector<std::vector<double>> dynamic_values_;
 };
 
 }  // namespace internal

diff --git a/internal/ceres/dynamic_numeric_diff_cost_function_test.cc b/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
index e4db3c1..b627eb7 100644
--- a/internal/ceres/dynamic_numeric_diff_cost_function_test.cc
+++ b/internal/ceres/dynamic_numeric_diff_cost_function_test.cc

@@ -120,7 +120,7 @@
   parameter_blocks[1] = &param_block_1[0];
 
   // Prepare the jacobian.
-  vector<vector<double> > jacobian_vect(2);
+  vector<vector<double>> jacobian_vect(2);
   jacobian_vect[0].resize(21 * 10, -100000);
   jacobian_vect[1].resize(21 * 5, -100000);
   vector<double*> jacobian;
@@ -187,7 +187,7 @@
   parameter_blocks[1] = &param_block_1[0];
 
   // Prepare the jacobian.
-  vector<vector<double> > jacobian_vect(2);
+  vector<vector<double>> jacobian_vect(2);
   jacobian_vect[0].resize(21 * 10, -100000);
   jacobian_vect[1].resize(21 * 5, -100000);
   vector<double*> jacobian;
@@ -237,7 +237,7 @@
   parameter_blocks[1] = &param_block_1[0];
 
   // Prepare the jacobian.
-  vector<vector<double> > jacobian_vect(2);
+  vector<vector<double>> jacobian_vect(2);
   jacobian_vect[0].resize(21 * 10, -100000);
   jacobian_vect[1].resize(21 * 5, -100000);
   vector<double*> jacobian;
@@ -421,7 +421,7 @@
 
   std::unique_ptr<CostFunction> cost_function_;
 
-  vector<vector<double> > jacobian_vect_;
+  vector<vector<double>> jacobian_vect_;
 
   vector<double> expected_residuals_;
 

diff --git a/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc b/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
index 451cfde..a46c85e 100644
--- a/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc
+++ b/internal/ceres/dynamic_sparse_normal_cholesky_solver.cc

@@ -129,7 +129,7 @@
                                                        A->mutable_values());
 
   Eigen::SparseMatrix<double> lhs = a.transpose() * a;
-  Eigen::SimplicialLDLT<Eigen::SparseMatrix<double> > solver;
+  Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>> solver;
 
   LinearSolver::Summary summary;
   summary.num_iterations = 1;

diff --git a/internal/ceres/eigensparse.cc b/internal/ceres/eigensparse.cc
index aa6b6a9..4945036 100644
--- a/internal/ceres/eigensparse.cc
+++ b/internal/ceres/eigensparse.cc

@@ -117,11 +117,11 @@
 #if EIGEN_VERSION_AT_LEAST(3, 2, 2)
   typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
                                 Eigen::Upper,
-                                Eigen::AMDOrdering<int> >
+                                Eigen::AMDOrdering<int>>
       WithAMDOrdering;
   typedef Eigen::SimplicialLDLT<Eigen::SparseMatrix<double>,
                                 Eigen::Upper,
-                                Eigen::NaturalOrdering<int> >
+                                Eigen::NaturalOrdering<int>>
       WithNaturalOrdering;
   if (ordering_type == AMD) {
     return new EigenSparseCholeskyTemplate<WithAMDOrdering>();

diff --git a/internal/ceres/gradient_checker_test.cc b/internal/ceres/gradient_checker_test.cc
index 85d58b9..92d7b26 100644
--- a/internal/ceres/gradient_checker_test.cc
+++ b/internal/ceres/gradient_checker_test.cc

@@ -112,7 +112,7 @@
  private:
   int arity_;
   bool return_value_;
-  vector<vector<double> > a_;  // our vectors.
+  vector<vector<double>> a_;  // our vectors.
 };
 
 class BadTestTerm : public CostFunction {
@@ -165,7 +165,7 @@
 
  private:
   int arity_;
-  vector<vector<double> > a_;  // our vectors.
+  vector<vector<double>> a_;  // our vectors.
 };
 
 const double kTolerance = 1e-6;

diff --git a/internal/ceres/gradient_checking_cost_function_test.cc b/internal/ceres/gradient_checking_cost_function_test.cc
index 7cf1e45..6ae77f6 100644
--- a/internal/ceres/gradient_checking_cost_function_test.cc
+++ b/internal/ceres/gradient_checking_cost_function_test.cc

@@ -126,7 +126,7 @@
 
  private:
   int arity_;
-  vector<vector<double> > a_;
+  vector<vector<double>> a_;
 };
 
 TEST(GradientCheckingCostFunction, ResidualsAndJacobiansArePreservedTest) {

diff --git a/internal/ceres/graph.h b/internal/ceres/graph.h
index 25bb141..079d31d 100644
--- a/internal/ceres/graph.h
+++ b/internal/ceres/graph.h

@@ -100,7 +100,7 @@
 
  private:
   std::unordered_set<Vertex> vertices_;
-  std::unordered_map<Vertex, std::unordered_set<Vertex> > edges_;
+  std::unordered_map<Vertex, std::unordered_set<Vertex>> edges_;
 };
 
 // A weighted undirected graph templated over the vertex ids. Vertex

diff --git a/internal/ceres/graph_algorithms.h b/internal/ceres/graph_algorithms.h
index 08837cf..8768465 100644
--- a/internal/ceres/graph_algorithms.h
+++ b/internal/ceres/graph_algorithms.h

@@ -260,7 +260,7 @@
 WeightedGraph<Vertex>*
 Degree2MaximumSpanningForest(const WeightedGraph<Vertex>& graph) {
   // Array of edges sorted in decreasing order of their weights.
-  std::vector<std::pair<double, std::pair<Vertex, Vertex> > > weighted_edges;
+  std::vector<std::pair<double, std::pair<Vertex, Vertex>>> weighted_edges;
   WeightedGraph<Vertex>* forest = new WeightedGraph<Vertex>();
 
   // Disjoint-set to keep track of the connected components in the

diff --git a/internal/ceres/graph_algorithms_test.cc b/internal/ceres/graph_algorithms_test.cc
index 6440544..2aef327 100644
--- a/internal/ceres/graph_algorithms_test.cc
+++ b/internal/ceres/graph_algorithms_test.cc

@@ -111,7 +111,8 @@
   graph.AddEdge(0, 1, 0.5);
   graph.AddEdge(1, 0, 0.5);
 
-  std::unique_ptr<WeightedGraph<int> > forest(Degree2MaximumSpanningForest(graph));
+  std::unique_ptr<WeightedGraph<int> > forest(
+					      Degree2MaximumSpanningForest(graph));
 
   const std::unordered_set<int>& vertices = forest->vertices();
   EXPECT_EQ(vertices.size(), 2);

diff --git a/internal/ceres/inner_product_computer_test.cc b/internal/ceres/inner_product_computer_test.cc
index 8b2ff91..31cd829 100644
--- a/internal/ceres/inner_product_computer_test.cc
+++ b/internal/ceres/inner_product_computer_test.cc

@@ -115,7 +115,7 @@
                                 random_matrix->num_cols(),
                                 random_matrix->num_nonzeros());
         random_matrix->ToTripletSparseMatrix(&tsm);
-        std::vector<Eigen::Triplet<double> > triplets;
+        std::vector<Eigen::Triplet<double>> triplets;
         for (int i = 0; i < tsm.num_nonzeros(); ++i) {
           triplets.push_back(Eigen::Triplet<double>(
               tsm.rows()[i], tsm.cols()[i], tsm.values()[i]));
@@ -187,7 +187,7 @@
                                 random_matrix->num_cols(),
                                 random_matrix->num_nonzeros());
         random_matrix->ToTripletSparseMatrix(&tsm);
-        std::vector<Eigen::Triplet<double> > triplets;
+        std::vector<Eigen::Triplet<double>> triplets;
         for (int i = 0; i < tsm.num_nonzeros(); ++i) {
           if (tsm.rows()[i] >= start_row && tsm.rows()[i] < end_row) {
             triplets.push_back(Eigen::Triplet<double>(

diff --git a/internal/ceres/local_parameterization_test.cc b/internal/ceres/local_parameterization_test.cc
index 41c78cb..2465b41 100644
--- a/internal/ceres/local_parameterization_test.cc
+++ b/internal/ceres/local_parameterization_test.cc

@@ -378,8 +378,8 @@
       q_delta.coeffs() <<  delta[0], delta[1], delta[2], T(1.0);
     }
 
-    Eigen::Map<Eigen::Quaternion<T> > x_plus_delta_ref(x_plus_delta);
-    Eigen::Map<const Eigen::Quaternion<T> > x_ref(x);
+    Eigen::Map<Eigen::Quaternion<T>> x_plus_delta_ref(x_plus_delta);
+    Eigen::Map<const Eigen::Quaternion<T>> x_ref(x);
     x_plus_delta_ref = q_delta * x_ref;
     return true;
   }
@@ -440,9 +440,9 @@
   template<typename Scalar>
   bool operator()(const Scalar* p_x, const Scalar* p_delta,
                   Scalar* p_x_plus_delta) const {
-    Eigen::Map<const Eigen::Matrix<Scalar, 4, 1> > x(p_x);
-    Eigen::Map<const Eigen::Matrix<Scalar, 3, 1> > delta(p_delta);
-    Eigen::Map<Eigen::Matrix<Scalar, 4, 1> > x_plus_delta(p_x_plus_delta);
+    Eigen::Map<const Eigen::Matrix<Scalar, 4, 1>> x(p_x);
+    Eigen::Map<const Eigen::Matrix<Scalar, 3, 1>> delta(p_delta);
+    Eigen::Map<Eigen::Matrix<Scalar, 4, 1>> x_plus_delta(p_x_plus_delta);
 
     const Scalar squared_norm_delta =
         delta[0] * delta[0] + delta[1] * delta[1] + delta[2] * delta[2];

diff --git a/internal/ceres/parallel_utils_test.cc b/internal/ceres/parallel_utils_test.cc
index 8638f90..f997d25 100644
--- a/internal/ceres/parallel_utils_test.cc
+++ b/internal/ceres/parallel_utils_test.cc

@@ -42,7 +42,7 @@
 // indices that are in-range and unique.
 TEST(LinearIndexToUpperTriangularIndexTest, UniqueAndValid) {
   for (int n = 0; n < 100; n++) {
-    std::set<std::pair<int, int> > seen_pairs;
+    std::set<std::pair<int, int>> seen_pairs;
     int actual_work_items = (n * (n + 1)) / 2;
     for (int k = 0; k < actual_work_items; k++) {
       int i, j;

diff --git a/internal/ceres/parameter_block_ordering.cc b/internal/ceres/parameter_block_ordering.cc
index a71c019..ffae223 100644
--- a/internal/ceres/parameter_block_ordering.cc
+++ b/internal/ceres/parameter_block_ordering.cc

@@ -162,7 +162,7 @@
     return;
   }
 
-  const map<int, set<double*> >& group_to_elements =
+  const map<int, set<double*>>& group_to_elements =
       ordering->group_to_elements();
   for (const auto& g_t_e : group_to_elements) {
     group_sizes->push_back(g_t_e.second.size());

diff --git a/internal/ceres/reorder_program.cc b/internal/ceres/reorder_program.cc
index f3480a3..86c1368 100644
--- a/internal/ceres/reorder_program.cc
+++ b/internal/ceres/reorder_program.cc

@@ -234,7 +234,7 @@
       program->mutable_parameter_blocks();
   parameter_blocks->clear();
 
-  const map<int, set<double*> >& groups = ordering.group_to_elements();
+  const map<int, set<double*>>& groups = ordering.group_to_elements();
   for (const auto& p : groups) {
     const set<double*>& group = p.second;
     for (double* parameter_block_ptr : group) {

diff --git a/internal/ceres/schur_complement_solver.cc b/internal/ceres/schur_complement_solver.cc
index 0fb9c30..7934e36 100644
--- a/internal/ceres/schur_complement_solver.cc
+++ b/internal/ceres/schur_complement_solver.cc

@@ -249,7 +249,7 @@
     blocks_[i - num_eliminate_blocks] = bs->cols[i].size;
   }
 
-  set<pair<int, int> > block_pairs;
+  set<pair<int, int>> block_pairs;
   for (int i = 0; i < blocks_.size(); ++i) {
     block_pairs.insert(make_pair(i, i));
   }

diff --git a/internal/ceres/split.cc b/internal/ceres/split.cc
index 296c09a..3a09e86 100644
--- a/internal/ceres/split.cc
+++ b/internal/ceres/split.cc

@@ -115,7 +115,7 @@
                       const char* delim,
                       vector<string>* result) {
   result->reserve(result->size() + CalculateReserveForVector(full, delim));
-  std::back_insert_iterator<vector<string> > it(*result);
+  std::back_insert_iterator<vector<string>> it(*result);
   SplitStringToIteratorUsing(full, delim, it);
 }
 

diff --git a/internal/ceres/visibility.cc b/internal/ceres/visibility.cc
index a446b6b..aa195b9 100644
--- a/internal/ceres/visibility.cc
+++ b/internal/ceres/visibility.cc

@@ -53,7 +53,7 @@
 
 void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
                        const int num_eliminate_blocks,
-                       vector< set<int> >* visibility) {
+                       vector<set<int>>* visibility) {
   CHECK_NOTNULL(visibility);
 
   // Clear the visibility vector and resize it to hold a
@@ -79,7 +79,7 @@
 }
 
 WeightedGraph<int>* CreateSchurComplementGraph(
-    const vector<set<int> >& visibility) {
+    const vector<set<int>>& visibility) {
   const time_t start_time = time(NULL);
   // Compute the number of e_blocks/point blocks. Since the visibility
   // set for each e_block/camera contains the set of e_blocks/points
@@ -96,7 +96,7 @@
   // cameras. However, to compute the sparsity structure of the Schur
   // Complement efficiently, its better to have the point->camera
   // mapping.
-  vector<set<int> > inverse_visibility(num_points);
+  vector<set<int>> inverse_visibility(num_points);
   for (int i = 0; i < visibility.size(); i++) {
     const set<int>& visibility_set = visibility[i];
     for (const int v : visibility_set) {

diff --git a/internal/ceres/visibility.h b/internal/ceres/visibility.h
index 605682f..e443766 100644
--- a/internal/ceres/visibility.h
+++ b/internal/ceres/visibility.h

@@ -54,7 +54,7 @@
 // points and f_blocks correspond to cameras.
 void ComputeVisibility(const CompressedRowBlockStructure& block_structure,
                        int num_eliminate_blocks,
-                       std::vector<std::set<int> >* visibility);
+                       std::vector<std::set<int>>* visibility);
 
 // Given f_block visibility as computed by the ComputeVisibility
 // function above, construct and return a graph whose vertices are
@@ -70,7 +70,7 @@
 // Caller acquires ownership of the returned WeightedGraph pointer
 // (heap-allocated).
 WeightedGraph<int>* CreateSchurComplementGraph(
-    const std::vector<std::set<int> >& visibility);
+    const std::vector<std::set<int>>& visibility);
 
 }  // namespace internal
 }  // namespace ceres

diff --git a/internal/ceres/visibility_based_preconditioner.cc b/internal/ceres/visibility_based_preconditioner.cc
index b13c529..36247b7 100644
--- a/internal/ceres/visibility_based_preconditioner.cc
+++ b/internal/ceres/visibility_based_preconditioner.cc

@@ -123,7 +123,7 @@
 // preconditioner matrix.
 void VisibilityBasedPreconditioner::ComputeClusterJacobiSparsity(
     const CompressedRowBlockStructure& bs) {
-  vector<set<int> > visibility;
+  vector<set<int>> visibility;
   ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
   CHECK_EQ(num_blocks_, visibility.size());
   ClusterCameras(visibility);
@@ -141,7 +141,7 @@
 // forest. The set of edges in this forest are the cluster pairs.
 void VisibilityBasedPreconditioner::ComputeClusterTridiagonalSparsity(
     const CompressedRowBlockStructure& bs) {
-  vector<set<int> > visibility;
+  vector<set<int>> visibility;
   ComputeVisibility(bs, options_.elimination_groups[0], &visibility);
   CHECK_EQ(num_blocks_, visibility.size());
   ClusterCameras(visibility);
@@ -150,7 +150,7 @@
   // edges are the number of 3D points/e_blocks visible in both the
   // clusters at the ends of the edge. Return an approximate degree-2
   // maximum spanning forest of this graph.
-  vector<set<int> > cluster_visibility;
+  vector<set<int>> cluster_visibility;
   ComputeClusterVisibility(visibility, &cluster_visibility);
   std::unique_ptr<WeightedGraph<int> > cluster_graph(
       CHECK_NOTNULL(CreateClusterGraph(cluster_visibility)));
@@ -484,8 +484,8 @@
 // of all its cameras. In other words, the set of points visible to
 // any camera in the cluster.
 void VisibilityBasedPreconditioner::ComputeClusterVisibility(
-    const vector<set<int> >& visibility,
-    vector<set<int> >* cluster_visibility) const {
+    const vector<set<int>>& visibility,
+    vector<set<int>>* cluster_visibility) const {
   CHECK_NOTNULL(cluster_visibility)->resize(0);
   cluster_visibility->resize(num_clusters_);
   for (int i = 0; i < num_blocks_; ++i) {
@@ -499,7 +499,7 @@
 // weights are the number of 3D points visible to cameras in both the
 // vertices.
 WeightedGraph<int>* VisibilityBasedPreconditioner::CreateClusterGraph(
-    const vector<set<int> >& cluster_visibility) const {
+    const vector<set<int>>& cluster_visibility) const {
   WeightedGraph<int>* cluster_graph = new WeightedGraph<int>;
 
   for (int i = 0; i < num_clusters_; ++i) {

diff --git a/internal/ceres/visibility_based_preconditioner.h b/internal/ceres/visibility_based_preconditioner.h
index b47bb68..a03a582 100644
--- a/internal/ceres/visibility_based_preconditioner.h
+++ b/internal/ceres/visibility_based_preconditioner.h

@@ -152,14 +152,14 @@
   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 std::unordered_map<int, int>& membership_map,
                             std::vector<int>* membership_vector) const;
   void ComputeClusterVisibility(
-      const std::vector<std::set<int> >& visibility,
-      std::vector<std::set<int> >* cluster_visibility) const;
+      const std::vector<std::set<int>>& visibility,
+      std::vector<std::set<int>>* cluster_visibility) const;
   WeightedGraph<int>* CreateClusterGraph(
-      const std::vector<std::set<int> >& visibility) const;
+      const std::vector<std::set<int>>& visibility) const;
   void ForestToClusterPairs(const WeightedGraph<int>& forest,
                             std::unordered_set<std::pair<int, int>, pair_hash>* cluster_pairs) const;
   void ComputeBlockPairsInPreconditioner(const CompressedRowBlockStructure& bs);
@@ -181,7 +181,7 @@
   // Non-zero camera pairs from the schur complement matrix that are
   // present in the preconditioner, sorted by row (first element of
   // each pair), then column (second).
-  std::set<std::pair<int, int> > block_pairs_;
+  std::set<std::pair<int, int>> block_pairs_;
 
   // Set of cluster pairs (including self pairs (i,i)) in the
   // preconditioner.

diff --git a/internal/ceres/visibility_based_preconditioner_test.cc b/internal/ceres/visibility_based_preconditioner_test.cc
index 437b5d4..a006d98 100644
--- a/internal/ceres/visibility_based_preconditioner_test.cc
+++ b/internal/ceres/visibility_based_preconditioner_test.cc

@@ -196,11 +196,11 @@
 //     return &preconditioner_->cluster_membership_;
 //   }
 
-//   const set<pair<int, int> >& get_block_pairs() {
+//   const set<pair<int, int>>& get_block_pairs() {
 //     return preconditioner_->block_pairs_;
 //   }
 
-//   set<pair<int, int> >* get_mutable_block_pairs() {
+//   set<pair<int, int>>* get_mutable_block_pairs() {
 //     return &preconditioner_->block_pairs_;
 //   }
 

diff --git a/internal/ceres/visibility_test.cc b/internal/ceres/visibility_test.cc
index 81ad99f..5028e01 100644
--- a/internal/ceres/visibility_test.cc
+++ b/internal/ceres/visibility_test.cc

@@ -100,7 +100,7 @@
   }
   bs.cols.resize(num_cols);
 
-  vector< set<int> > visibility;
+  vector< set<int>> visibility;
   ComputeVisibility(bs, num_eliminate_blocks, &visibility);
   ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
   for (int i = 0; i < visibility.size(); ++i) {
@@ -176,14 +176,15 @@
   }
   bs.cols.resize(num_cols);
 
-  vector<set<int> > visibility;
+  vector<set<int>> visibility;
   ComputeVisibility(bs, num_eliminate_blocks, &visibility);
   ASSERT_EQ(visibility.size(), num_cols - num_eliminate_blocks);
   for (int i = 0; i < visibility.size(); ++i) {
     ASSERT_EQ(visibility[i].size(), 0);
   }
 
-  std::unique_ptr<WeightedGraph<int> > graph(CreateSchurComplementGraph(visibility));
+  std::unique_ptr<WeightedGraph<int> > graph(
+					     CreateSchurComplementGraph(visibility));
   EXPECT_EQ(graph->vertices().size(), visibility.size());
   for (int i = 0; i < visibility.size(); ++i) {
     EXPECT_EQ(graph->VertexWeight(i), 1.0);