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Diffstat (limited to 'internal/ceres/normal_prior.cc')
| -rw-r--r-- | internal/ceres/normal_prior.cc | 66 |
1 files changed, 66 insertions, 0 deletions
diff --git a/internal/ceres/normal_prior.cc b/internal/ceres/normal_prior.cc new file mode 100644 index 0000000..392d728 --- /dev/null +++ b/internal/ceres/normal_prior.cc @@ -0,0 +1,66 @@ +// Ceres Solver - A fast non-linear least squares minimizer +// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. +// http://code.google.com/p/ceres-solver/ +// +// 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 +// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +// POSSIBILITY OF SUCH DAMAGE. +// +// Author: sameeragarwal@google.com (Sameer Agarwal) + +#include "ceres/normal_prior.h" + +#include <cstddef> +#include <vector> +#include "ceres/internal/eigen.h" +#include "ceres/internal/scoped_ptr.h" +#include "ceres/types.h" +#include "glog/logging.h" + +namespace ceres { + +NormalPrior::NormalPrior(const Matrix& A, const Vector& b) + : A_(A), b_(b) { + CHECK_GT(b_.rows(), 0); + CHECK_GT(A_.rows(), 0); + CHECK_EQ(b_.rows(), A.cols()); + set_num_residuals(A_.rows()); + mutable_parameter_block_sizes()->push_back(b_.rows()); +} + +bool NormalPrior::Evaluate(double const* const* parameters, + double* residuals, + double** jacobians) const { + ConstVectorRef p(parameters[0], parameter_block_sizes()[0]); + VectorRef r(residuals, num_residuals()); + // The following line should read + // r = A_ * (p - b_); + // The extra eval is to get around a bug in the eigen library. + r = A_ * (p - b_).eval(); + if ((jacobians != NULL) && (jacobians[0] != NULL)) { + MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_; + } + return true; +} + +} // namespace ceres |