saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-29 08:34:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Using const ints in jacobian writers

Browse Source 
Change-Id: I90ebb1956a15eddad2758bed7acaf3a2b90ce7c3
This commit is contained in:
Alexander Ivanov
2023-01-28 03:42:03 +00:00
parent f9bffbb6fb
commit 5e787ab700
3 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/block_jacobian_writer.cc
+1 -1
View File
@@ -139,7 +139,7 @@ BlockJacobianWriter::BlockJacobianWriter(const Evaluator::Options& options,
// makes the final Write() a nop.
std::unique_ptr<BlockEvaluatePreparer[]>
BlockJacobianWriter::CreateEvaluatePreparers(unsigned num_threads) {
int max_derivatives_per_residual_block =
const int max_derivatives_per_residual_block =
program_->MaxDerivativesPerResidualBlock();
auto preparers = std::make_unique<BlockEvaluatePreparer[]>(num_threads);
internal/ceres/compressed_row_jacobian_writer.cc
+2 -2
View File
@@ -90,8 +90,8 @@ std::unique_ptr<SparseMatrix> CompressedRowJacobianWriter::CreateJacobian()
const {
const auto& residual_blocks = program_->residual_blocks();
int total_num_residuals = program_->NumResiduals();
int total_num_effective_parameters = program_->NumEffectiveParameters();
const int total_num_residuals = program_->NumResiduals();
const int total_num_effective_parameters = program_->NumEffectiveParameters();
// Count the number of jacobian nonzeros.
int num_jacobian_nonzeros = 0;
internal/ceres/dense_jacobian_writer.h
+2 -2
View File
@@ -75,8 +75,8 @@ class CERES_NO_EXPORT DenseJacobianWriter {
DenseSparseMatrix* dense_jacobian = down_cast<DenseSparseMatrix*>(jacobian);
const ResidualBlock* residual_block =
program_->residual_blocks()[residual_id];
int num_parameter_blocks = residual_block->NumParameterBlocks();
int num_residuals = residual_block->NumResiduals();
const int num_parameter_blocks = residual_block->NumParameterBlocks();
const int num_residuals = residual_block->NumResiduals();
// Now copy the jacobians for each parameter into the dense jacobian matrix.
for (int j = 0; j < num_parameter_blocks; ++j) {