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// 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::make_pair;
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->impl_.get());
}
bool Covariance::Compute(const vector<const double*>& parameter_blocks,
Problem* problem) {
return impl_->Compute(parameter_blocks, 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);
}
bool Covariance::GetCovarianceMatrix(
const vector<const double*>& parameter_blocks,
double* covariance_matrix) const {
return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
true, // ambient
covariance_matrix);
}
bool Covariance::GetCovarianceMatrixInTangentSpace(
const std::vector<const double*>& parameter_blocks,
double* covariance_matrix) const {
return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
false, // tangent
covariance_matrix);
}
} // namespace ceres
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