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Diffstat (limited to 'extern/libmv/third_party/ceres/include/ceres/normal_prior.h')
| -rw-r--r-- | extern/libmv/third_party/ceres/include/ceres/normal_prior.h | 78 |
1 files changed, 0 insertions, 78 deletions
diff --git a/extern/libmv/third_party/ceres/include/ceres/normal_prior.h b/extern/libmv/third_party/ceres/include/ceres/normal_prior.h deleted file mode 100644 index df665054530..00000000000 --- a/extern/libmv/third_party/ceres/include/ceres/normal_prior.h +++ /dev/null @@ -1,78 +0,0 @@ -// Ceres Solver - A fast non-linear least squares minimizer -// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. -// http://code.google.com/p/ceres-solver/ -// -// 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) -// -// Cost term that implements a prior on a parameter block using a -// normal distribution. - -#ifndef CERES_PUBLIC_NORMAL_PRIOR_H_ -#define CERES_PUBLIC_NORMAL_PRIOR_H_ - -#include "ceres/cost_function.h" -#include "ceres/internal/eigen.h" -#include "ceres/internal/disable_warnings.h" - -namespace ceres { - -// Implements a cost function of the form -// -// cost(x) = ||A(x - b)||^2 -// -// where, the matrix A and the vector b are fixed and x is the -// variable. In case the user is interested in implementing a cost -// function of the form -// -// cost(x) = (x - mu)^T S^{-1} (x - mu) -// -// where, mu is a vector and S is a covariance matrix, then, A = -// S^{-1/2}, i.e the matrix A is the square root of the inverse of the -// covariance, also known as the stiffness matrix. There are however -// no restrictions on the shape of A. It is free to be rectangular, -// which would be the case if the covariance matrix S is rank -// deficient. - -class CERES_EXPORT NormalPrior: public CostFunction { - public: - // Check that the number of rows in the vector b are the same as the - // number of columns in the matrix A, crash otherwise. - NormalPrior(const Matrix& A, const Vector& b); - - virtual bool Evaluate(double const* const* parameters, - double* residuals, - double** jacobians) const; - private: - Matrix A_; - Vector b_; -}; - -} // namespace ceres - -#include "ceres/internal/reenable_warnings.h" - -#endif // CERES_PUBLIC_NORMAL_PRIOR_H_ |