67 lines
2.7 KiB
C++
67 lines
2.7 KiB
C++
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "ceres/normal_prior.h"
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#include <cstddef>
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#include <vector>
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/scoped_ptr.h"
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#include "ceres/types.h"
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#include "glog/logging.h"
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namespace ceres {
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NormalPrior::NormalPrior(const Matrix& A, const Vector& b)
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: A_(A), b_(b) {
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CHECK_GT(b_.rows(), 0);
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CHECK_GT(A_.rows(), 0);
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CHECK_EQ(b_.rows(), A.cols());
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set_num_residuals(A_.rows());
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mutable_parameter_block_sizes()->push_back(b_.rows());
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}
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bool NormalPrior::Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const {
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ConstVectorRef p(parameters[0], parameter_block_sizes()[0]);
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VectorRef r(residuals, num_residuals());
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// The following line should read
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// r = A_ * (p - b_);
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// The extra eval is to get around a bug in the eigen library.
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r = A_ * (p - b_).eval();
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if ((jacobians != NULL) && (jacobians[0] != NULL)) {
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MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_;
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}
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return true;
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}
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} // namespace ceres
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