From 15c1210a8bdf3e936b4ef600d75f0fbb70878fb5 Mon Sep 17 00:00:00 2001 From: Sameer Agarwal Date: Tue, 29 Apr 2014 08:12:19 -0700 Subject: [PATCH 1/2] Lint cleanup from Jim Roseborough. Change-Id: I53f4e0d020602443b397387b8c5908f25649403d --- .../ceres/compressed_row_jacobian_writer.h | 37 ++++++++++--------- 1 file changed, 20 insertions(+), 17 deletions(-) diff --git a/internal/ceres/compressed_row_jacobian_writer.h b/internal/ceres/compressed_row_jacobian_writer.h index 935e650..a722a7c 100644 --- a/internal/ceres/compressed_row_jacobian_writer.h +++ b/internal/ceres/compressed_row_jacobian_writer.h @@ -50,31 +50,33 @@ class CompressedRowJacobianWriter { : program_(program) { } - // `PopulateJacobianRowAndColumnBlockVectors` sets `col_blocks` and - // `row_blocks` for a `CompressedRowSparseMatrix`, based on the parameter - // block sizes and residual sizes respectively from the program. This is - // useful when Solver::Options::use_block_amd = true; + // PopulateJacobianRowAndColumnBlockVectors sets col_blocks and + // row_blocks for a CompressedRowSparseMatrix, based on the + // parameter block sizes and residual sizes respectively from the + // program. This is useful when Solver::Options::use_block_amd = + // true; // // This function is static so that it is available to other jacobian - // writers which use `CompressedRowSparseMatrix` (or derived types). + // writers which use CompressedRowSparseMatrix (or derived types). // (Jacobian writers do not fall under any type hierarchy; they only // have to provide an interface as specified in program_evaluator.h). static void PopulateJacobianRowAndColumnBlockVectors( const Program* program, CompressedRowSparseMatrix* jacobian); - // It is necessary to determine the order of the jacobian blocks before - // copying them into a `CompressedRowSparseMatrix` (or derived type). - // Just because a cost function uses parameter blocks 1 after 2 in its - // arguments does not mean that the block 1 occurs before block 2 in the - // column layout of the jacobian. Thus, `GetOrderedParameterBlocks` - // determines the order by sorting the jacobian blocks by their position in - // the state vector. + // It is necessary to determine the order of the jacobian blocks + // before copying them into a CompressedRowSparseMatrix (or derived + // type). Just because a cost function uses parameter blocks 1 + // after 2 in its arguments does not mean that the block 1 occurs + // before block 2 in the column layout of the jacobian. Thus, + // GetOrderedParameterBlocks determines the order by sorting the + // jacobian blocks by their position in the state vector. // // This function is static so that it is available to other jacobian - // writers which use `CompressedRowSparseMatrix` (or derived types). + // writers which use CompressedRowSparseMatrix (or derived types). // (Jacobian writers do not fall under any type hierarchy; they only - // have to provide an interface as specified in program_evaluator.h). + // have to provide an interface as specified in + // program_evaluator.h). static void GetOrderedParameterBlocks( const Program* program, int residual_id, @@ -82,9 +84,10 @@ class CompressedRowJacobianWriter { // JacobianWriter interface. - // Since the compressed row matrix has different layout than that assumed by - // the cost functions, use scratch space to store the jacobians temporarily - // then copy them over to the larger jacobian in the Write() function. + // Since the compressed row matrix has different layout than that + // assumed by the cost functions, use scratch space to store the + // jacobians temporarily then copy them over to the larger jacobian + // in the Write() function. ScratchEvaluatePreparer* CreateEvaluatePreparers(int num_threads) { return ScratchEvaluatePreparer::Create(*program_, num_threads); } From 31b503792611d2119bb1acb3528fc8d58c5bd029 Mon Sep 17 00:00:00 2001 From: Sameer Agarwal Date: Wed, 30 Apr 2014 15:02:38 -0700 Subject: [PATCH 2/2] Lint cleanup from William Rucklidge. Change-Id: If545f114c1a2b07edd660a3c71ecfc16ffa25e43 --- CMakeLists.txt | 2 +- docs/source/version_history.rst | 6 +++--- include/ceres/types.h | 24 +++++++++++++++--------- 3 files changed, 19 insertions(+), 13 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 6f56f3b..5110d26 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -112,7 +112,7 @@ IF (MSVC) OPTION(MSVC_USE_STATIC_CRT "MS Visual Studio: Use static C-Run Time Library in place of shared." OFF) - IF ( BUILD_TESTING AND BUILD_SHARED_LIBS) + IF (BUILD_TESTING AND BUILD_SHARED_LIBS) MESSAGE( "-- Disabling tests. The flags BUILD_TESTING and BUILD_SHARED_LIBS" " are incompatible with MSVC." diff --git a/docs/source/version_history.rst b/docs/source/version_history.rst index 78a04ac..195ca75 100644 --- a/docs/source/version_history.rst +++ b/docs/source/version_history.rst @@ -27,12 +27,12 @@ New Features (Alex Stewart) #. LBFGS is faster due to fewer memory copies. #. Parameter blocks are not restricted to be less than 32k in size, - they can be upto 2G in size. + they can be up to 2G in size. #. Faster ``SPARSE_NORMAL_CHOLESKY`` solver when using ``CX_SPARSE`` as the sparse linear algebra library. #. ``Problem::IsParameterBlockPresent`` can be used to check if a parameter block is already present in the problem. -#. ``Problem::GetParameterzation`` can be used to access the +#. ``Problem::GetParameterization`` can be used to access the parameterization associated with a parameter block. #. Added the (2,4,9) template specialization for PartitionedMatrixView and SchurEliminator. @@ -98,7 +98,7 @@ Bug Fixes column blocks. (Richard Bowen) #. Better error checking when ``Problem::RemoveResidualBlock`` is called. (Alex Stewart) -#. Fixed a memory leack in ``SchurComplementSolver``. +#. Fixed a memory leak in ``SchurComplementSolver``. #. Added ``epsilon()`` method to ``NumTraits >``. (Filippo Basso) #. Fixed a bug in `CompressedRowSparseMatrix::AppendRows`` and diff --git a/include/ceres/types.h b/include/ceres/types.h index 5784d50..ff31d45 100644 --- a/include/ceres/types.h +++ b/include/ceres/types.h @@ -378,9 +378,9 @@ enum DumpFormatType { TEXTFILE }; -// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be specified for -// the number of residuals. If specified, then the number of residuas for that -// cost function can vary at runtime. +// For SizedCostFunction and AutoDiffCostFunction, DYNAMIC can be +// specified for the number of residuals. If specified, then the +// number of residuas for that cost function can vary at runtime. enum DimensionType { DYNAMIC = -1 }; @@ -402,13 +402,17 @@ enum CovarianceAlgorithmType { SPARSE_QR }; -CERES_EXPORT const char* LinearSolverTypeToString(LinearSolverType type); -CERES_EXPORT bool StringToLinearSolverType(string value, LinearSolverType* type); +CERES_EXPORT const char* LinearSolverTypeToString( + LinearSolverType type); +CERES_EXPORT bool StringToLinearSolverType(string value, + LinearSolverType* type); CERES_EXPORT const char* PreconditionerTypeToString(PreconditionerType type); -CERES_EXPORT bool StringToPreconditionerType(string value, PreconditionerType* type); +CERES_EXPORT bool StringToPreconditionerType(string value, + PreconditionerType* type); -CERES_EXPORT const char* VisibilityClusteringTypeToString(VisibilityClusteringType type); +CERES_EXPORT const char* VisibilityClusteringTypeToString( + VisibilityClusteringType type); CERES_EXPORT bool StringToVisibilityClusteringType(string value, VisibilityClusteringType* type); @@ -424,7 +428,8 @@ CERES_EXPORT bool StringToDenseLinearAlgebraLibraryType( string value, DenseLinearAlgebraLibraryType* type); -CERES_EXPORT const char* TrustRegionStrategyTypeToString(TrustRegionStrategyType type); +CERES_EXPORT const char* TrustRegionStrategyTypeToString( + TrustRegionStrategyType type); CERES_EXPORT bool StringToTrustRegionStrategyType(string value, TrustRegionStrategyType* type); @@ -434,7 +439,8 @@ CERES_EXPORT bool StringToDoglegType(string value, DoglegType* type); CERES_EXPORT const char* MinimizerTypeToString(MinimizerType type); CERES_EXPORT bool StringToMinimizerType(string value, MinimizerType* type); -CERES_EXPORT const char* LineSearchDirectionTypeToString(LineSearchDirectionType type); +CERES_EXPORT const char* LineSearchDirectionTypeToString( + LineSearchDirectionType type); CERES_EXPORT bool StringToLineSearchDirectionType(string value, LineSearchDirectionType* type);