mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 16:40:38 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
79 lines
3.1 KiB
C++
79 lines
3.1 KiB
C++
// 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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//
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// Cost term that implements a prior on a parameter block using a
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// normal distribution.
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#ifndef CERES_PUBLIC_NORMAL_PRIOR_H_
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#define CERES_PUBLIC_NORMAL_PRIOR_H_
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#include "ceres/cost_function.h"
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#include "ceres/internal/eigen.h"
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#include "ceres/internal/disable_warnings.h"
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namespace ceres {
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// Implements a cost function of the form
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//
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// cost(x) = ||A(x - b)||^2
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//
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// where, the matrix A and the vector b are fixed and x is the
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// variable. In case the user is interested in implementing a cost
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// function of the form
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//
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// cost(x) = (x - mu)^T S^{-1} (x - mu)
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//
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// where, mu is a vector and S is a covariance matrix, then, A =
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// S^{-1/2}, i.e the matrix A is the square root of the inverse of the
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// covariance, also known as the stiffness matrix. There are however
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// no restrictions on the shape of A. It is free to be rectangular,
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// which would be the case if the covariance matrix S is rank
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// deficient.
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class CERES_EXPORT NormalPrior: public CostFunction {
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public:
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// Check that the number of rows in the vector b are the same as the
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// number of columns in the matrix A, crash otherwise.
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NormalPrior(const Matrix& A, const Vector& b);
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virtual bool Evaluate(double const* const* parameters,
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double* residuals,
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double** jacobians) const;
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private:
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Matrix A_;
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Vector b_;
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};
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} // namespace ceres
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#include "ceres/internal/reenable_warnings.h"
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#endif // CERES_PUBLIC_NORMAL_PRIOR_H_
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