diff options
Diffstat (limited to 'extern/libmv/third_party/ceres/internal/ceres/normal_prior.cc')
| -rw-r--r-- | extern/libmv/third_party/ceres/internal/ceres/normal_prior.cc | 66 |
1 files changed, 0 insertions, 66 deletions
diff --git a/extern/libmv/third_party/ceres/internal/ceres/normal_prior.cc b/extern/libmv/third_party/ceres/internal/ceres/normal_prior.cc deleted file mode 100644 index 392d728fb32..00000000000 --- a/extern/libmv/third_party/ceres/internal/ceres/normal_prior.cc +++ /dev/null @@ -1,66 +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) - -#include "ceres/normal_prior.h" - -#include <cstddef> -#include <vector> -#include "ceres/internal/eigen.h" -#include "ceres/internal/scoped_ptr.h" -#include "ceres/types.h" -#include "glog/logging.h" - -namespace ceres { - -NormalPrior::NormalPrior(const Matrix& A, const Vector& b) - : A_(A), b_(b) { - CHECK_GT(b_.rows(), 0); - CHECK_GT(A_.rows(), 0); - CHECK_EQ(b_.rows(), A.cols()); - set_num_residuals(A_.rows()); - mutable_parameter_block_sizes()->push_back(b_.rows()); -} - -bool NormalPrior::Evaluate(double const* const* parameters, - double* residuals, - double** jacobians) const { - ConstVectorRef p(parameters[0], parameter_block_sizes()[0]); - VectorRef r(residuals, num_residuals()); - // The following line should read - // r = A_ * (p - b_); - // The extra eval is to get around a bug in the eigen library. - r = A_ * (p - b_).eval(); - if ((jacobians != NULL) && (jacobians[0] != NULL)) { - MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_; - } - return true; -} - -} // namespace ceres |