10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 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// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: sameeragarwal@google.com (Sameer Agarwal) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/normal_prior.h" 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <cstddef> 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <vector> 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/eigen.h" 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/internal/scoped_ptr.h" 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/types.h" 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "glog/logging.h" 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongnamespace ceres { 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus KongNormalPrior::NormalPrior(const Matrix& A, const Vector& b) 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong : A_(A), b_(b) { 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_GT(b_.rows(), 0); 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_GT(A_.rows(), 0); 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong CHECK_EQ(b_.rows(), A.cols()); 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong set_num_residuals(A_.rows()); 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong mutable_parameter_block_sizes()->push_back(b_.rows()); 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongbool NormalPrior::Evaluate(double const* const* parameters, 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* residuals, 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double** jacobians) const { 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ConstVectorRef p(parameters[0], parameter_block_sizes()[0]); 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong VectorRef r(residuals, num_residuals()); 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The following line should read 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // r = A_ * (p - b_); 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The extra eval is to get around a bug in the eigen library. 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong r = A_ * (p - b_).eval(); 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if ((jacobians != NULL) && (jacobians[0] != NULL)) { 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_; 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} // namespace ceres 67