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
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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
Covariance(const Covariance::Options & options)41 Covariance::Covariance(const Covariance::Options& options) {
42 impl_.reset(new internal::CovarianceImpl(options));
43 }
44
~Covariance()45 Covariance::~Covariance() {
46 }
47
Compute(const vector<pair<const double *,const double * >> & covariance_blocks,Problem * problem)48 bool 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
GetCovarianceBlock(const double * parameter_block1,const double * parameter_block2,double * covariance_block) const54 bool 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