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// 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.
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// 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