Vehicle-cpp/zjw/ceres-solver-master/internal/ceres/covariance.cc

// Ceres Solver - A fast non-linear least squares minimizer
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// http://ceres-solver.org/
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// Author: sameeragarwal@google.com (Sameer Agarwal)

#include "ceres/covariance.h"

#include <utility>
#include <vector>

#include "ceres/covariance_impl.h"
#include "ceres/problem.h"
#include "ceres/problem_impl.h"

namespace ceres {

Covariance::Covariance(const Covariance::Options& options) {
  impl_ = std::make_unique<internal::CovarianceImpl>(options);
}

Covariance::~Covariance() = default;

bool Covariance::Compute(
    const std::vector<std::pair<const double*, const double*>>&
        covariance_blocks,
    Problem* problem) {
  return impl_->Compute(covariance_blocks, problem->mutable_impl());
}

bool Covariance::Compute(const std::vector<const double*>& parameter_blocks,
                         Problem* problem) {
  return impl_->Compute(parameter_blocks, problem->mutable_impl());
}

bool Covariance::GetCovarianceBlock(const double* parameter_block1,
                                    const double* parameter_block2,
                                    double* covariance_block) const {
  return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
                                                          parameter_block2,
                                                          true,  // ambient
                                                          covariance_block);
}

bool Covariance::GetCovarianceBlockInTangentSpace(
    const double* parameter_block1,
    const double* parameter_block2,
    double* covariance_block) const {
  return impl_->GetCovarianceBlockInTangentOrAmbientSpace(parameter_block1,
                                                          parameter_block2,
                                                          false,  // tangent
                                                          covariance_block);
}

bool Covariance::GetCovarianceMatrix(
    const std::vector<const double*>& parameter_blocks,
    double* covariance_matrix) const {
  return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
                                                           true,  // ambient
                                                           covariance_matrix);
}

bool Covariance::GetCovarianceMatrixInTangentSpace(
    const std::vector<const double*>& parameter_blocks,
    double* covariance_matrix) const {
  return impl_->GetCovarianceMatrixInTangentOrAmbientSpace(parameter_blocks,
                                                           false,  // tangent
                                                           covariance_matrix);
}

}  // namespace ceres