internal/ceres/covariance.cc

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  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
  39 namespace ceres {
  40
  41 using std::make_pair;
  42 using std::pair;
  43 using std::vector;
  44
  45 Covariance::Covariance(const Covariance::Options& options) {
  46   impl_.reset(new internal::CovarianceImpl(options));
  47 }
  48
  49 Covariance::~Covariance() {
  50 }
  51
  52 bool Covariance::Compute(
  53     const vector<pair<const double*, const double*> >& covariance_blocks,
  54     Problem* problem) {
  55   return impl_->Compute(covariance_blocks, problem->problem_impl_.get());
  56 }
  57
  58 bool Covariance::Compute(
  59     const vector<const double*>& parameter_blocks,
  60     Problem* problem) {
  61   return impl_->Compute(parameter_blocks, problem->problem_impl_.get());
  62 }
  63
  64 bool Covariance::GetCovarianceBlock(const double* parameter_block1,
  65                                     const double* parameter_block2,
  66                                     double* covariance_block) const {
  67   return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
  68                                                           parameter_block2,
  69                                                           true,  // ambient
  70                                                           covariance_block);
  71 }
  72
  73 bool Covariance::GetCovarianceBlockInTangentSpace(
  74     const double* parameter_block1,
  75     const double* parameter_block2,
  76     double* covariance_block) const {
  77   return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
  78                                                           parameter_block2,
  79                                                           false,  // tangent
  80                                                           covariance_block);
  81 }
  82
  83 bool Covariance::GetCovarianceMatrix(
  84     const vector<const double*>& parameter_blocks,
  85     double* covariance_matrix) {
  86   return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
  87                                                            true,  // ambient
  88                                                            covariance_matrix);
  89 }
  90
  91 bool Covariance::GetCovarianceMatrixInTangentSpace(
  92     const std::vector<const double *>& parameter_blocks,
  93     double *covariance_matrix) {
  94   return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
  95                                                            false,  // tangent
  96                                                            covariance_matrix);
  97 }
  98
  99 }  // namespace ceres