| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2023 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/normal_prior.h" |
| |
| #include <cstddef> |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/internal/eigen.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| |
| NormalPrior::NormalPrior(const Matrix& A, Vector b) : A_(A), b_(std::move(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 != nullptr) && (jacobians[0] != nullptr)) { |
| MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_; |
| } |
| return true; |
| } |
| |
| } // namespace ceres |