| // 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/covariance.h" |
| |
| #include <utility> |
| #include <vector> |
| |
| #include "ceres/covariance_impl.h" |
| #include "ceres/problem.h" |
| #include "ceres/problem_impl.h" |
| |
| namespace ceres { |
| |
| Covariance::Covariance(const Covariance::Options& options) { |
| impl_ = std::make_unique<internal::CovarianceImpl>(options); |
| } |
| |
| Covariance::~Covariance() = default; |
| |
| bool Covariance::Compute( |
| const std::vector<std::pair<const double*, const double*>>& |
| covariance_blocks, |
| Problem* problem) { |
| return impl_->Compute(covariance_blocks, problem->mutable_impl()); |
| } |
| |
| bool Covariance::Compute(const std::vector<const double*>& parameter_blocks, |
| Problem* problem) { |
| return impl_->Compute(parameter_blocks, problem->mutable_impl()); |
| } |
| |
| 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 std::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 |
