10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 21d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Copyright 2013 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 291d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling// Author: sameeragarwal@google.com (Sameer Agarwal) 301d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 311d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/covariance.h" 321d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 331d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include <utility> 341d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include <vector> 351d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/covariance_impl.h" 361d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/problem.h" 371d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling#include "ceres/problem_impl.h" 381d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 391d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingnamespace ceres { 401d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 411d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha HaeberlingCovariance::Covariance(const Covariance::Options& options) { 421d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling impl_.reset(new internal::CovarianceImpl(options)); 431d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 441d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 451d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha HaeberlingCovariance::~Covariance() { 461d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 481d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingbool Covariance::Compute( 491d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const vector<pair<const double*, const double*> >& covariance_blocks, 501d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling Problem* problem) { 511d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling return impl_->Compute(covariance_blocks, problem->problem_impl_.get()); 521d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 541d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberlingbool Covariance::GetCovarianceBlock(const double* parameter_block1, 551d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const double* parameter_block2, 561d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling double* covariance_block) const { 571d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling return impl_->GetCovarianceBlock(parameter_block1, 581d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling parameter_block2, 591d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling covariance_block); 601d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 621d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling} // namespace ceres 63