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@google.com (Sameer Agarwal) 30 // 31 // Class for loading and holding in memory bundle adjustment problems 32 // from the BAL (Bundle Adjustment in the Large) dataset from the 33 // University of Washington. 34 // 35 // For more details see http://grail.cs.washington.edu/projects/bal/ 36 37 #ifndef CERES_EXAMPLES_BAL_PROBLEM_H_ 38 #define CERES_EXAMPLES_BAL_PROBLEM_H_ 39 40 #include <string> 41 42 namespace ceres { 43 namespace examples { 44 45 class BALProblem { 46 public: 47 explicit BALProblem(const std::string& filename, bool use_quaternions); 48 ~BALProblem(); 49 50 void WriteToFile(const std::string& filename) const; 51 52 // Move the "center" of the reconstruction to the origin, where the 53 // center is determined by computing the marginal median of the 54 // points. The reconstruction is then scaled so that the median 55 // absolute deviation of the points measured from the origin is 56 // 100.0. 57 // 58 // The reprojection error of the problem remains the same. 59 void Normalize(); 60 61 // Perturb the camera pose and the geometry with random normal 62 // numbers with corresponding standard deviations. 63 void Perturb(const double rotation_sigma, 64 const double translation_sigma, 65 const double point_sigma); 66 camera_block_size()67 int camera_block_size() const { return use_quaternions_ ? 10 : 9; } point_block_size()68 int point_block_size() const { return 3; } num_cameras()69 int num_cameras() const { return num_cameras_; } num_points()70 int num_points() const { return num_points_; } num_observations()71 int num_observations() const { return num_observations_; } num_parameters()72 int num_parameters() const { return num_parameters_; } point_index()73 const int* point_index() const { return point_index_; } camera_index()74 const int* camera_index() const { return camera_index_; } observations()75 const double* observations() const { return observations_; } parameters()76 const double* parameters() const { return parameters_; } mutable_cameras()77 double* mutable_cameras() { return parameters_; } mutable_points()78 double* mutable_points() { 79 return parameters_ + camera_block_size() * num_cameras_; 80 } 81 82 private: 83 void CameraToAngleAxisAndCenter(const double* camera, 84 double* angle_axis, 85 double* center); 86 87 void AngleAxisAndCenterToCamera(const double* angle_axis, 88 const double* center, 89 double* camera); 90 int num_cameras_; 91 int num_points_; 92 int num_observations_; 93 int num_parameters_; 94 bool use_quaternions_; 95 96 int* point_index_; 97 int* camera_index_; 98 double* observations_; 99 // The parameter vector is laid out as follows 100 // [camera_1, ..., camera_n, point_1, ..., point_m] 101 double* parameters_; 102 }; 103 104 } // namespace examples 105 } // namespace ceres 106 107 #endif // CERES_EXAMPLES_BAL_PROBLEM_H_ 108