690847945a90fb530af7c5630186ffecd8b8641e
[blender.git] / extern / ceres / internal / ceres / covariance.cc
1 // Ceres Solver - A fast non-linear least squares minimizer
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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::pair;
42 using std::vector;
43
44 Covariance::Covariance(const Covariance::Options& options) {
45   impl_.reset(new internal::CovarianceImpl(options));
46 }
47
48 Covariance::~Covariance() {
49 }
50
51 bool Covariance::Compute(
52     const vector<pair<const double*, const double*> >& covariance_blocks,
53     Problem* problem) {
54   return impl_->Compute(covariance_blocks, problem->problem_impl_.get());
55 }
56
57 bool Covariance::GetCovarianceBlock(const double* parameter_block1,
58                                     const double* parameter_block2,
59                                     double* covariance_block) const {
60   return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
61                                                           parameter_block2,
62                                                           true,  // ambient
63                                                           covariance_block);
64 }
65
66 bool Covariance::GetCovarianceBlockInTangentSpace(
67     const double* parameter_block1,
68     const double* parameter_block2,
69     double* covariance_block) const {
70   return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
71                                                           parameter_block2,
72                                                           false,  // tangent
73                                                           covariance_block);
74 }
75
76 }  // namespace ceres