1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2013 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 14// used to endorse or promote products derived from this software without 15// specific prior written permission. 16// 17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30 31#include "ceres/covariance.h" 32 33#include <utility> 34#include <vector> 35#include "ceres/covariance_impl.h" 36#include "ceres/problem.h" 37#include "ceres/problem_impl.h" 38 39namespace ceres { 40 41Covariance::Covariance(const Covariance::Options& options) { 42 impl_.reset(new internal::CovarianceImpl(options)); 43} 44 45Covariance::~Covariance() { 46} 47 48bool Covariance::Compute( 49 const vector<pair<const double*, const double*> >& covariance_blocks, 50 Problem* problem) { 51 return impl_->Compute(covariance_blocks, problem->problem_impl_.get()); 52} 53 54bool Covariance::GetCovarianceBlock(const double* parameter_block1, 55 const double* parameter_block2, 56 double* covariance_block) const { 57 return impl_->GetCovarianceBlock(parameter_block1, 58 parameter_block2, 59 covariance_block); 60} 61 62} // namespace ceres 63