1 // Ceres Solver - A fast non-linear least squares minimizer 2 // Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3 // http://code.google.com/p/ceres-solver/ 4 // 5 // Redistribution and use in source and binary forms, with or without 6 // modification, are permitted provided that the following conditions are met: 7 // 8 // * Redistributions of source code must retain the above copyright notice, 9 // this list of conditions and the following disclaimer. 10 // * Redistributions in binary form must reproduce the above copyright notice, 11 // this list of conditions and the following disclaimer in the documentation 12 // and/or other materials provided with the distribution. 13 // * Neither the name of Google Inc. nor the names of its contributors may be 14 // used to endorse or promote products derived from this software without 15 // specific prior written permission. 16 // 17 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27 // POSSIBILITY OF SUCH DAMAGE. 28 // 29 // Author: sameeragarwal (at) google.com (Sameer Agarwal) 30 31 #include "ceres/normal_prior.h" 32 33 #include <cstddef> 34 #include <vector> 35 #include "ceres/internal/eigen.h" 36 #include "ceres/internal/scoped_ptr.h" 37 #include "ceres/types.h" 38 #include "glog/logging.h" 39 40 namespace ceres { 41 42 NormalPrior::NormalPrior(const Matrix& A, const Vector& b) 43 : A_(A), b_(b) { 44 CHECK_GT(b_.rows(), 0); 45 CHECK_GT(A_.rows(), 0); 46 CHECK_EQ(b_.rows(), A.cols()); 47 set_num_residuals(A_.rows()); 48 mutable_parameter_block_sizes()->push_back(b_.rows()); 49 } 50 51 bool NormalPrior::Evaluate(double const* const* parameters, 52 double* residuals, 53 double** jacobians) const { 54 ConstVectorRef p(parameters[0], parameter_block_sizes()[0]); 55 VectorRef r(residuals, num_residuals()); 56 // The following line should read 57 // r = A_ * (p - b_); 58 // The extra eval is to get around a bug in the eigen library. 59 r = A_ * (p - b_).eval(); 60 if ((jacobians != NULL) && (jacobians[0] != NULL)) { 61 MatrixRef(jacobians[0], num_residuals(), parameter_block_sizes()[0]) = A_; 62 } 63 return true; 64 } 65 66 } // namespace ceres 67
