saberbud/ceres-solver
1
0
Fork 0
mirror of https://github.com/ceres-solver/ceres-solver.git synced 2026-08-30 00:50:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

ClangTidy cleanups

Browse Source 
1. NULL -> nullptr
2. foo.reset(new Bar) -> = foo = std::make_unique<Bar>()
3. Missing std library includes & prefixes

Change-Id: I260b261b484554be681ee5a7398126fdb3b3a789
This commit is contained in:
Sameer Agarwal
2022-02-02 13:17:29 -08:00
parent a35bd1bf90
commit ae65219e04
171 changed files with 1191 additions and 1148 deletions
Download Patch File Download Diff File Expand all files Collapse all files
internal/ceres/program_evaluator.h
+14 -13
View File
@@ -59,7 +59,7 @@
// class JacobianWriter {
// // Create a jacobian that this writer can write. Same as
// // Evaluator::CreateJacobian.
// SparseMatrix* CreateJacobian() const;
// std::unique_ptr<SparseMatrix> CreateJacobian() const;
//
// // Create num_threads evaluate preparers. Caller owns result which must
// // be freed with delete[]. Resulting preparers are valid while *this is.
@@ -127,12 +127,12 @@ class ProgramEvaluator : public Evaluator {
#endif // CERES_NO_THREADS
BuildResidualLayout(*program, &residual_layout_);
evaluate_scratch_.reset(
CreateEvaluatorScratch(*program, options.num_threads));
evaluate_scratch_ =
std::move(CreateEvaluatorScratch(*program, options.num_threads));
}
// Implementation of Evaluator interface.
SparseMatrix* CreateJacobian() const final {
std::unique_ptr<SparseMatrix> CreateJacobian() const final {
return jacobian_writer_.CreateJacobian();
}
@@ -309,13 +309,14 @@ class ProgramEvaluator : public Evaluator {
int max_scratch_doubles_needed_for_evaluate,
int max_residuals_per_residual_block,
int num_parameters) {
residual_block_evaluate_scratch.reset(
new double[max_scratch_doubles_needed_for_evaluate]);
gradient.reset(new double[num_parameters]);
residual_block_evaluate_scratch =
std::make_unique<double[]>(max_scratch_doubles_needed_for_evaluate);
gradient = std::make_unique<double[]>(num_parameters);
VectorRef(gradient.get(), num_parameters).setZero();
residual_block_residuals.reset(
new double[max_residuals_per_residual_block]);
jacobian_block_ptrs.reset(new double*[max_parameters_per_residual_block]);
residual_block_residuals =
std::make_unique<double[]>(max_residuals_per_residual_block);
jacobian_block_ptrs =
std::make_unique<double*[]>(max_parameters_per_residual_block);
}
double cost;
@@ -341,8 +342,8 @@ class ProgramEvaluator : public Evaluator {
}
// Create scratch space for each thread evaluating the program.
static EvaluateScratch* CreateEvaluatorScratch(const Program& program,
int num_threads) {
static std::unique_ptr<EvaluateScratch[]> CreateEvaluatorScratch(
const Program& program, int num_threads) {
int max_parameters_per_residual_block =
program.MaxParametersPerResidualBlock();
int max_scratch_doubles_needed_for_evaluate =
@@ -351,7 +352,7 @@ class ProgramEvaluator : public Evaluator {
program.MaxResidualsPerResidualBlock();
int num_parameters = program.NumEffectiveParameters();
EvaluateScratch* evaluate_scratch = new EvaluateScratch[num_threads];
auto evaluate_scratch = std::make_unique<EvaluateScratch[]>(num_threads);
for (int i = 0; i < num_threads; i++) {
evaluate_scratch[i].Init(max_parameters_per_residual_block,
max_scratch_doubles_needed_for_evaluate,