From 39388bd2ffc3dac63e80e713890f7ea48ad7d223 Mon Sep 17 00:00:00 2001
From: Sameer Agarwal <sameeragarwal@google.com>
Date: Tue, 9 May 2017 17:23:43 -0700
Subject: [PATCH] Address comments from William Rucklidge

Change-Id: I0c4f686b89798435741c55a5ca45cf000af842dc
---
 include/ceres/dynamic_cost_function_to_functor.h  | 3 ++-
 internal/ceres/sparse_normal_cholesky_solver.cc   | 4 ++--
 internal/ceres/triplet_sparse_matrix.cc           | 5 ++---
 internal/ceres/visibility_based_preconditioner.cc | 3 ++-
 4 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/include/ceres/dynamic_cost_function_to_functor.h b/include/ceres/dynamic_cost_function_to_functor.h
index 2c650596e..10bc99aaa 100644
--- a/include/ceres/dynamic_cost_function_to_functor.h
+++ b/include/ceres/dynamic_cost_function_to_functor.h
@@ -116,7 +116,8 @@ class DynamicCostFunctionToFunctor {
   bool operator()(JetT const* const* inputs, JetT* output) const {
     const std::vector<int32>& parameter_block_sizes =
         cost_function_->parameter_block_sizes();
-    const int num_parameter_blocks = static_cast<int>(parameter_block_sizes.size());
+    const int num_parameter_blocks =
+        static_cast<int>(parameter_block_sizes.size());
     const int num_residuals = cost_function_->num_residuals();
     const int num_parameters = std::accumulate(parameter_block_sizes.begin(),
                                                parameter_block_sizes.end(), 0);
diff --git a/internal/ceres/sparse_normal_cholesky_solver.cc b/internal/ceres/sparse_normal_cholesky_solver.cc
index 9c725ffd4..557ebd852 100644
--- a/internal/ceres/sparse_normal_cholesky_solver.cc
+++ b/internal/ceres/sparse_normal_cholesky_solver.cc
@@ -359,11 +359,11 @@ LinearSolver::Summary SparseNormalCholeskySolver::SolveImplUsingSuiteSparse(
   summary.num_iterations = 1;
   summary.message = "Success.";
 
-  // Map outer_product_ to an lower triangular column major matrix.
+  // Map outer_product_ to a lower triangular column major matrix.
   //
   // outer_product_ is a compressed row sparse matrix and in upper
   // triangular form, when mapped to a compressed column sparse
-  // matrix, it becomes an lower triangular matrix.
+  // matrix, it becomes a lower triangular matrix.
   const int num_cols = outer_product_->num_cols();
   cholmod_sparse lhs =
       ss_.CreateSparseMatrixTransposeView(outer_product_.get());
diff --git a/internal/ceres/triplet_sparse_matrix.cc b/internal/ceres/triplet_sparse_matrix.cc
index a7df060ea..cd19444b0 100644
--- a/internal/ceres/triplet_sparse_matrix.cc
+++ b/internal/ceres/triplet_sparse_matrix.cc
@@ -85,6 +85,8 @@ TripletSparseMatrix::TripletSparseMatrix(const int num_rows,
   // All the sizes should at least be zero
   CHECK_GE(num_rows, 0);
   CHECK_GE(num_cols, 0);
+  CHECK_EQ(rows.size(), cols.size());
+  CHECK_EQ(rows.size(), values.size());
   AllocateMemory();
   std::copy(rows.begin(), rows.end(), rows_.get());
   std::copy(cols.begin(), cols.end(), cols_.get());
@@ -305,9 +307,6 @@ TripletSparseMatrix* TripletSparseMatrix::CreateRandomMatrix(
         }
       }
     }
-    if (!rows.empty()) {
-      break;
-    }
   }
 
   return new TripletSparseMatrix(
diff --git a/internal/ceres/visibility_based_preconditioner.cc b/internal/ceres/visibility_based_preconditioner.cc
index 429626af3..7e1ac67b9 100644
--- a/internal/ceres/visibility_based_preconditioner.cc
+++ b/internal/ceres/visibility_based_preconditioner.cc
@@ -342,7 +342,8 @@ void VisibilityBasedPreconditioner::InitEliminator(
   eliminator_options.row_block_size = options_.row_block_size;
   eliminator_.reset(SchurEliminatorBase::Create(eliminator_options));
   const bool kFullRankETE = true;
-  eliminator_->Init(eliminator_options.elimination_groups[0], kFullRankETE, &bs);
+  eliminator_->Init(
+      eliminator_options.elimination_groups[0], kFullRankETE, &bs);
 }
 
 // Update the values of the preconditioner matrix and factorize it.