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Several cleanups.

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- Removes dead code.
- Changes to use std::make_unique.

Change-Id: I7921d78606554ca55fbedf719372749663b5464c
This commit is contained in:
Mike Vitus
2022-10-05 14:12:37 -07:00
parent a78a574727
commit 9893c534c0
2 changed files with 4 additions and 11 deletions
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internal/ceres/coordinate_descent_minimizer.cc
-6
View File
@@ -134,8 +134,6 @@ void CoordinateDescentMinimizer::Minimize(const Minimizer::Options& options,
std::vector<std::unique_ptr<LinearSolver>> linear_solvers(
options.num_threads);
// std::unique_ptr<LinearSolver*[]> linear_solvers(
// new LinearSolver*[options.num_threads]);
LinearSolver::Options linear_solver_options;
linear_solver_options.type = DENSE_QR;
@@ -202,10 +200,6 @@ void CoordinateDescentMinimizer::Minimize(const Minimizer::Options& options,
for (auto* parameter_block : parameter_blocks_) {
parameter_block->SetVarying();
}
// for (int i = 0; i < options.num_threads; ++i) {
// delete linear_solvers[i];
//}
}
// Solve the optimization problem for one parameter block.
internal/ceres/covariance_impl.cc
+4 -5
View File
@@ -321,9 +321,8 @@ bool CovarianceImpl::GetCovarianceMatrixInTangentOrAmbientSpace(
// Assemble the blocks in the covariance matrix.
MatrixRef covariance(covariance_matrix, covariance_size, covariance_size);
const int num_threads = options_.num_threads;
std::unique_ptr<double[]> workspace(
new double[num_threads * max_covariance_block_size *
max_covariance_block_size]);
auto workspace = std::make_unique<double[]>(
num_threads * max_covariance_block_size * max_covariance_block_size);
bool success = true;
@@ -682,7 +681,7 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingSuiteSparseQR() {
// Since the covariance matrix is symmetric, the i^th row and column
// are equal.
const int num_threads = options_.num_threads;
std::unique_ptr<double[]> workspace(new double[num_threads * num_cols]);
auto workspace = std::make_unique<double[]>(num_threads * num_cols);
problem_->context()->EnsureMinimumThreads(num_threads);
ParallelFor(
@@ -873,7 +872,7 @@ bool CovarianceImpl::ComputeCovarianceValuesUsingEigenSparseQR() {
// are equal.
const int num_cols = jacobian.num_cols;
const int num_threads = options_.num_threads;
std::unique_ptr<double[]> workspace(new double[num_threads * num_cols]);
auto workspace = std::make_unique<double[]>(num_threads * num_cols);
problem_->context()->EnsureMinimumThreads(num_threads);
ParallelFor(