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Diffstat (limited to 'extern/ceres/internal/ceres/covariance.cc')
-rw-r--r-- | extern/ceres/internal/ceres/covariance.cc | 76 |
1 files changed, 76 insertions, 0 deletions
diff --git a/extern/ceres/internal/ceres/covariance.cc b/extern/ceres/internal/ceres/covariance.cc new file mode 100644 index 00000000000..690847945a9 --- /dev/null +++ b/extern/ceres/internal/ceres/covariance.cc @@ -0,0 +1,76 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2015 Google Inc. All rights reserved. +// http://ceres-solver.org/ +// +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// +// * Redistributions of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// * Neither the name of Google Inc. nor the names of its contributors may be +// used to endorse or promote products derived from this software without +// specific prior written permission. +// +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/covariance.h" + +#include <utility> +#include <vector> +#include "ceres/covariance_impl.h" +#include "ceres/problem.h" +#include "ceres/problem_impl.h" + +namespace ceres { + +using std::pair; +using std::vector; + +Covariance::Covariance(const Covariance::Options& options) { + impl_.reset(new internal::CovarianceImpl(options)); +} + +Covariance::~Covariance() { +} + +bool Covariance::Compute( + const vector<pair<const double*, const double*> >& covariance_blocks, + Problem* problem) { + return impl_->Compute(covariance_blocks, problem->problem_impl_.get()); +} + +bool Covariance::GetCovarianceBlock(const double* parameter_block1, + const double* parameter_block2, + double* covariance_block) const { + return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1, + parameter_block2, + true, // ambient + covariance_block); +} + +bool Covariance::GetCovarianceBlockInTangentSpace( + const double* parameter_block1, + const double* parameter_block2, + double* covariance_block) const { + return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1, + parameter_block2, + false, // tangent + covariance_block); +} + +} // namespace ceres |