Minor fixes

Based on William Rucklidge's review, including
a nasty bug in parameter block removal.

Change-Id: I3a692e589f600ff560ecae9fa85bb0b76063d403

include/ceres/rotation.h

@@ -51,13 +51,19 @@
 
 namespace ceres {
 
-// Trivial wrapper to index linear arrays as matrices, given a fixed column and
-// row stride. When an array "T* arr" is wrapped by a
-// "(const) MatrixAdapter<T, row_stride, col_stride> M", the expression "M(i, j)" is
-// equivalent to "arr[i * row_stride + j * col_stride]".
-// Conversion functions to and from rotation matrices accept MatrixAdapters to
-// permit using row-major and column-major layouts, and rotation matrices embedded in
-// larger matrices (such as a 3x4 projection matrix).
+// Trivial wrapper to index linear arrays as matrices, given a fixed
+// column and row stride. When an array "T* array" is wrapped by a
+//
+//   (const) MatrixAdapter<T, row_stride, col_stride> M"
+//
+// the expression  M(i, j) is equivalent to
+//
+//   arrary[i * row_stride + j * col_stride]
+//
+// Conversion functions to and from rotation matrices accept
+// MatrixAdapters to permit using row-major and column-major layouts,
+// and rotation matrices embedded in larger matrices (such as a 3x4
+// projection matrix).
 template <typename T, int row_stride, int col_stride>
 struct MatrixAdapter;
 

internal/ceres/block_jacobi_preconditioner.h

@@ -54,7 +54,7 @@ class LinearOperator;
 class BlockJacobiPreconditioner : public Preconditioner {
  public:
   // A must remain valid while the BlockJacobiPreconditioner is.
-  BlockJacobiPreconditioner(const BlockSparseMatrixBase& A);
+  explicit BlockJacobiPreconditioner(const BlockSparseMatrixBase& A);
   virtual ~BlockJacobiPreconditioner();
 
   // Preconditioner interface

internal/ceres/iterative_schur_complement_solver.cc

@@ -110,12 +110,6 @@ LinearSolver::Summary IterativeSchurComplementSolver::SolveImpl(
     case IDENTITY:
       break;
     case JACOBI:
-      // We need to strip the constness of the block_diagonal_FtF_inverse
-      // matrix here because the only other way to initialize the struct
-      // cg_solve_options would be to add a constructor to it. We know
-      // that the only method ever called on the preconditioner is the
-      // RightMultiply which is a const method so we don't need to worry
-      // about the object getting modified.
       preconditioner_.reset(
           new SparseMatrixPreconditionerWrapper(
               schur_complement_->block_diagonal_FtF_inverse()));

internal/ceres/parameter_block.h

@@ -73,7 +73,7 @@ class ParameterBlock {
 
   // Create a parameter block with the user state, size, and index specified.
   // The size is the size of the parameter block and the index is the position
-  // if the parameter block inside a Program (if any).
+  // of the parameter block inside a Program (if any).
   ParameterBlock(double* user_state, int size, int index) {
     Init(user_state, size, index, NULL);
   }

internal/ceres/preconditioner.h

@@ -69,11 +69,11 @@ class Preconditioner : public LinearOperator {
     //
     // For example if elimination_groups is a vector of size k, then
     // the linear solver is informed that it should eliminate the
-    // parameter blocks 0 - elimination_groups[0] - 1 first, and then
-    // elimination_groups[0] - elimination_groups[1] and so on. Within
-    // each elimination group, the linear solver is free to choose how
-    // the parameter blocks are ordered. Different linear solvers have
-    // differing requirements on elimination_groups.
+    // parameter blocks 0 ... elimination_groups[0] - 1 first, and
+    // then elimination_groups[0] ... elimination_groups[1] and so
+    // on. Within each elimination group, the linear solver is free to
+    // choose how the parameter blocks are ordered. Different linear
+    // solvers have differing requirements on elimination_groups.
     //
     // The most common use is for Schur type solvers, where there
     // should be at least two elimination groups and the first
@@ -130,7 +130,7 @@ class Preconditioner : public LinearOperator {
 class SparseMatrixPreconditionerWrapper : public Preconditioner {
  public:
   // Wrapper does NOT take ownership of the matrix pointer.
-  SparseMatrixPreconditionerWrapper(const SparseMatrix* matrix);
+  explicit SparseMatrixPreconditionerWrapper(const SparseMatrix* matrix);
   virtual ~SparseMatrixPreconditionerWrapper();
 
   // Preconditioner interface

internal/ceres/problem_impl.cc

@@ -177,7 +177,7 @@ ProblemImpl::ProblemImpl(const Problem::Options& options)
 
 ProblemImpl::~ProblemImpl() {
   // Collect the unique cost/loss functions and delete the residuals.
-  const int num_residual_blocks =  program_->residual_blocks_.size();
+  const int num_residual_blocks = program_->residual_blocks_.size();
   cost_functions_to_delete_.reserve(num_residual_blocks);
   loss_functions_to_delete_.reserve(num_residual_blocks);
   for (int i = 0; i < program_->residual_blocks_.size(); ++i) {
@@ -486,8 +486,8 @@ void ProblemImpl::RemoveParameterBlock(double* values) {
       ResidualBlock* residual_block =
           (*(program_->mutable_residual_blocks()))[i];
       const int num_parameter_blocks = residual_block->NumParameterBlocks();
-      for (int i = 0; i < num_parameter_blocks; ++i) {
-        if (residual_block->parameter_blocks()[i] == parameter_block) {
+      for (int j = 0; j < num_parameter_blocks; ++j) {
+        if (residual_block->parameter_blocks()[j] == parameter_block) {
           RemoveResidualBlock(residual_block);
           // The parameter blocks are guaranteed unique.
           break;

internal/ceres/solver.cc

@@ -311,7 +311,7 @@ string Solver::Summary::FullReport() const {
 
     StringAppendF(&report, "\n");
 
-    StringAppendF(&report,   "%45s    %21s\n", "Given",  "Used");
+    StringAppendF(&report, "%45s    %21s\n", "Given",  "Used");
     StringAppendF(&report, "Threads:            % 25d% 25d\n",
                   num_threads_given, num_threads_used);
 

internal/ceres/stl_util.h

@@ -53,6 +53,8 @@ void STLDeleteContainerPointers(ForwardIterator begin,
   }
 }
 
+// Variant of STLDeleteContainerPointers which allows the container to
+// contain duplicates.
 template <class ForwardIterator>
 void STLDeleteUniqueContainerPointers(ForwardIterator begin,
                                       ForwardIterator end) {

scripts/make_docs.py

@@ -38,7 +38,7 @@ import glob
 
 if len(sys.argv) < 3:
   print "make_docs.py src_root destination_root"
-  sys.exit(1);
+  sys.exit(1)
 
 src_dir =  sys.argv[1] + "/docs/source"
 build_root = sys.argv[2]
@@ -58,8 +58,10 @@ output_pattern = """config=TeX-AMS_HTML">
 </script>"""
 
 # By default MathJax uses does not use TeX fonts. This simple search
-# an replace fixes that.
+# and replace fixes that.
 for name in glob.glob("%s/*.html" % html_dir):
   print "Postprocessing: ", name
-  out = open(name).read().replace(input_pattern, output_pattern)
+  fptr = open(name)
+  out = fptr.read().replace(input_pattern, output_pattern)
   open(name, "w").write(out)
+  fptr.close();