MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/internal/ceres/covariance_impl.h
2019-01-03 16:25:18 +08:00

93 lines
3.4 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 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.
// * Neither the name of Google Inc. nor the names of its contributors may be
// used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// POSSIBILITY OF SUCH DAMAGE.
//
// Author: sameeragarwal@google.com (Sameer Agarwal)
#ifndef CERES_INTERNAL_COVARIANCE_IMPL_H_
#define CERES_INTERNAL_COVARIANCE_IMPL_H_
#include <map>
#include <set>
#include <utility>
#include <vector>
#include "ceres/covariance.h"
#include "ceres/internal/scoped_ptr.h"
#include "ceres/problem_impl.h"
#include "ceres/suitesparse.h"
namespace ceres {
namespace internal {
class CompressedRowSparseMatrix;
class CovarianceImpl {
public:
explicit CovarianceImpl(const Covariance::Options& options);
~CovarianceImpl();
bool Compute(
const std::vector<std::pair<const double*,
const double*> >& covariance_blocks,
ProblemImpl* problem);
bool GetCovarianceBlockInTangentOrAmbientSpace(
const double* parameter_block1,
const double* parameter_block2,
bool lift_covariance_to_ambient_space,
double* covariance_block) const;
bool ComputeCovarianceSparsity(
const std::vector<std::pair<const double*,
const double*> >& covariance_blocks,
ProblemImpl* problem);
bool ComputeCovarianceValues();
bool ComputeCovarianceValuesUsingDenseSVD();
bool ComputeCovarianceValuesUsingSuiteSparseQR();
bool ComputeCovarianceValuesUsingEigenSparseQR();
const CompressedRowSparseMatrix* covariance_matrix() const {
return covariance_matrix_.get();
}
private:
ProblemImpl* problem_;
Covariance::Options options_;
Problem::EvaluateOptions evaluate_options_;
bool is_computed_;
bool is_valid_;
std::map<const double*, int> parameter_block_to_row_index_;
std::set<const double*> constant_parameter_blocks_;
scoped_ptr<CompressedRowSparseMatrix> covariance_matrix_;
};
} // namespace internal
} // namespace ceres
#endif // CERES_INTERNAL_COVARIANCE_IMPL_H_