internal/ceres/bundle_adjustment_test_util.h - ceres-solver.git - Git at Google

 // Ceres Solver - A fast non-linear least squares minimizer
 // Copyright 2023 Google Inc. All rights reserved.
 // http://ceres-solver.org/
 //
 // 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: keir@google.com (Keir Mierle)
 //
 // End-to-end bundle adjustment test utilities for Ceres. This base is used in
 // the generated bundle adjustment test binaries. The reason to split the
 // bundle tests into separate binaries is so the tests can get parallelized.

 #include <cstdio>
 #include <memory>
 #include <string>

 #include "absl/log/log.h"
 #include "ceres/autodiff_cost_function.h"
 #include "ceres/internal/export.h"
 #include "ceres/ordered_groups.h"
 #include "ceres/problem.h"
 #include "ceres/rotation.h"
 #include "ceres/solver.h"
 #include "ceres/test_util.h"
 #include "ceres/types.h"

 namespace ceres {
 namespace internal {

 const bool kAutomaticOrdering = true;
 const bool kUserOrdering = false;

 // This class implements the SystemTestProblem interface and provides
 // access to a bundle adjustment problem. It is based on
 // examples/bundle_adjustment_example.cc. Currently a small 16 camera
 // problem is hard coded in the constructor.
 class BundleAdjustmentProblem {
  public:
   explicit BundleAdjustmentProblem(const std::string input_file) {
     ReadData(input_file);
     BuildProblem();
   }
   BundleAdjustmentProblem() {
     const std::string input_file =
         TestFileAbsolutePath("problem-16-22106-pre.txt");
     ReadData(input_file);
     BuildProblem();
   }

   ~BundleAdjustmentProblem() {
     delete[] point_index_;
     delete[] camera_index_;
     delete[] observations_;
     delete[] parameters_;
   }

   Problem* mutable_problem() { return &problem_; }
   Solver::Options* mutable_solver_options() { return &options_; }

   // clang-format off
   int num_cameras()                const { return num_cameras_; }
   int num_points()                 const { return num_points_; }
   int num_observations()           const { return num_observations_; }
   const int* point_index()         const { return point_index_; }
   const int* camera_index()        const { return camera_index_; }
   const double* observations()     const { return observations_; }
   double* mutable_cameras()              { return parameters_; }
   double* mutable_points()               { return parameters_ + 9 * num_cameras_; }
   const Solver::Options& options() const { return options_; }
   // clang-format on

   static constexpr double kResidualTolerance = 1e-4;

  private:
   void ReadData(const std::string& filename) {
     FILE* fptr = fopen(filename.c_str(), "r");

     if (!fptr) {
       LOG(FATAL) << "File Error: unable to open file " << filename;
     }

     // This will die horribly on invalid files. Them's the breaks.
     FscanfOrDie(fptr, "%d", &num_cameras_);
     FscanfOrDie(fptr, "%d", &num_points_);
     FscanfOrDie(fptr, "%d", &num_observations_);

     VLOG(1) << "Header: " << num_cameras_ << " " << num_points_ << " "
             << num_observations_;

     point_index_ = new int[num_observations_];
     camera_index_ = new int[num_observations_];
     observations_ = new double[2 * num_observations_];

     num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
     parameters_ = new double[num_parameters_];

     for (int i = 0; i < num_observations_; ++i) {
       FscanfOrDie(fptr, "%d", camera_index_ + i);
       FscanfOrDie(fptr, "%d", point_index_ + i);
       for (int j = 0; j < 2; ++j) {
         FscanfOrDie(fptr, "%lf", observations_ + 2 * i + j);
       }
     }

     for (int i = 0; i < num_parameters_; ++i) {
       FscanfOrDie(fptr, "%lf", parameters_ + i);
     }

     fclose(fptr);
   }

   void BuildProblem() {
     double* points = mutable_points();
     double* cameras = mutable_cameras();

     for (int i = 0; i < num_observations(); ++i) {
       // Each Residual block takes a point and a camera as input and
       // outputs a 2 dimensional residual.
       CostFunction* cost_function =
           new AutoDiffCostFunction<BundlerResidual, 2, 9, 3>(
               new BundlerResidual(observations_[2 * i + 0],
                                   observations_[2 * i + 1]));

       // Each observation corresponds to a pair of a camera and a point
       // which are identified by camera_index()[i] and
       // point_index()[i] respectively.
       double* camera = cameras + 9 * camera_index_[i];
       double* point = points + 3 * point_index()[i];
       problem_.AddResidualBlock(cost_function, nullptr, camera, point);
     }

     options_.linear_solver_ordering =
         std::make_shared<ParameterBlockOrdering>();

     // The points come before the cameras.
     for (int i = 0; i < num_points_; ++i) {
       options_.linear_solver_ordering->AddElementToGroup(points + 3 * i, 0);
     }

     for (int i = 0; i < num_cameras_; ++i) {
       options_.linear_solver_ordering->AddElementToGroup(cameras + 9 * i, 1);
     }

     options_.linear_solver_type = DENSE_SCHUR;
     options_.max_num_iterations = 25;
     options_.function_tolerance = 1e-10;
     options_.gradient_tolerance = 1e-10;
     options_.parameter_tolerance = 1e-10;
   }

   template <typename T>
   void FscanfOrDie(FILE* fptr, const char* format, T* value) {
     int num_scanned = fscanf(fptr, format, value);
     if (num_scanned != 1) {
       LOG(FATAL) << "Invalid UW data file.";
     }
   }

   // Templated pinhole camera model.  The camera is parameterized
   // using 9 parameters. 3 for rotation, 3 for translation, 1 for
   // focal length and 2 for radial distortion. The principal point is
   // not modeled (i.e. it is assumed to be located at the image
   // center).
   struct BundlerResidual {
     // (u, v): the position of the observation with respect to the image
     // center point.
     BundlerResidual(double u, double v) : u(u), v(v) {}

     template <typename T>
     bool operator()(const T* const camera,
                     const T* const point,
                     T* residuals) const {
       T p[3];
       AngleAxisRotatePoint(camera, point, p);

       // Add the translation vector
       p[0] += camera[3];
       p[1] += camera[4];
       p[2] += camera[5];

       const T& focal = camera[6];
       const T& l1 = camera[7];
       const T& l2 = camera[8];

       // Compute the center of distortion.  The sign change comes from
       // the camera model that Noah Snavely's Bundler assumes, whereby
       // the camera coordinate system has a negative z axis.
       T xp = -focal * p[0] / p[2];
       T yp = -focal * p[1] / p[2];

       // Apply second and fourth order radial distortion.
       T r2 = xp * xp + yp * yp;
       T distortion = T(1.0) + r2 * (l1 + l2 * r2);

       residuals[0] = distortion * xp - u;
       residuals[1] = distortion * yp - v;

       return true;
     }

     double u;
     double v;
   };

   Problem problem_;
   Solver::Options options_;

   int num_cameras_;
   int num_points_;
   int num_observations_;
   int num_parameters_;

   int* point_index_;
   int* camera_index_;
   double* observations_;
   // The parameter vector is laid out as follows
   // [camera_1, ..., camera_n, point_1, ..., point_m]
   double* parameters_;
 };

 using BundleAdjustmentTest = SystemTest<BundleAdjustmentProblem>;

 }  // namespace internal
 }  // namespace ceres
	// Ceres Solver - A fast non-linear least squares minimizer
	// Copyright 2023 Google Inc. All rights reserved.
	// http://ceres-solver.org/
	//
	// 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: keir@google.com (Keir Mierle)
	//
	// End-to-end bundle adjustment test utilities for Ceres. This base is used in
	// the generated bundle adjustment test binaries. The reason to split the
	// bundle tests into separate binaries is so the tests can get parallelized.

	#include <cstdio>
	#include <memory>
	#include <string>

	#include "absl/log/log.h"
	#include "ceres/autodiff_cost_function.h"
	#include "ceres/internal/export.h"
	#include "ceres/ordered_groups.h"
	#include "ceres/problem.h"
	#include "ceres/rotation.h"
	#include "ceres/solver.h"
	#include "ceres/test_util.h"
	#include "ceres/types.h"

	namespace ceres {
	namespace internal {

	const bool kAutomaticOrdering = true;
	const bool kUserOrdering = false;

	// This class implements the SystemTestProblem interface and provides
	// access to a bundle adjustment problem. It is based on
	// examples/bundle_adjustment_example.cc. Currently a small 16 camera
	// problem is hard coded in the constructor.
	class BundleAdjustmentProblem {
	public:
	explicit BundleAdjustmentProblem(const std::string input_file) {
	ReadData(input_file);
	BuildProblem();
	}
	BundleAdjustmentProblem() {
	const std::string input_file =
	TestFileAbsolutePath("problem-16-22106-pre.txt");
	ReadData(input_file);
	BuildProblem();
	}

	~BundleAdjustmentProblem() {
	delete[] point_index_;
	delete[] camera_index_;
	delete[] observations_;
	delete[] parameters_;
	}

	Problem* mutable_problem() { return &problem_; }
	Solver::Options* mutable_solver_options() { return &options_; }

	// clang-format off
	int num_cameras() const { return num_cameras_; }
	int num_points() const { return num_points_; }
	int num_observations() const { return num_observations_; }
	const int* point_index() const { return point_index_; }
	const int* camera_index() const { return camera_index_; }
	const double* observations() const { return observations_; }
	double* mutable_cameras() { return parameters_; }
	double* mutable_points() { return parameters_ + 9 * num_cameras_; }
	const Solver::Options& options() const { return options_; }
	// clang-format on

	static constexpr double kResidualTolerance = 1e-4;

	private:
	void ReadData(const std::string& filename) {
	FILE* fptr = fopen(filename.c_str(), "r");

	if (!fptr) {
	LOG(FATAL) << "File Error: unable to open file " << filename;
	}

	// This will die horribly on invalid files. Them's the breaks.
	FscanfOrDie(fptr, "%d", &num_cameras_);
	FscanfOrDie(fptr, "%d", &num_points_);
	FscanfOrDie(fptr, "%d", &num_observations_);

	VLOG(1) << "Header: " << num_cameras_ << " " << num_points_ << " "
	<< num_observations_;

	point_index_ = new int[num_observations_];
	camera_index_ = new int[num_observations_];
	observations_ = new double[2 * num_observations_];

	num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
	parameters_ = new double[num_parameters_];

	for (int i = 0; i < num_observations_; ++i) {
	FscanfOrDie(fptr, "%d", camera_index_ + i);
	FscanfOrDie(fptr, "%d", point_index_ + i);
	for (int j = 0; j < 2; ++j) {
	FscanfOrDie(fptr, "%lf", observations_ + 2 * i + j);
	}
	}

	for (int i = 0; i < num_parameters_; ++i) {
	FscanfOrDie(fptr, "%lf", parameters_ + i);
	}

	fclose(fptr);
	}

	void BuildProblem() {
	double* points = mutable_points();
	double* cameras = mutable_cameras();

	for (int i = 0; i < num_observations(); ++i) {
	// Each Residual block takes a point and a camera as input and
	// outputs a 2 dimensional residual.
	CostFunction* cost_function =
	new AutoDiffCostFunction<BundlerResidual, 2, 9, 3>(
	new BundlerResidual(observations_[2 * i + 0],
	observations_[2 * i + 1]));

	// Each observation corresponds to a pair of a camera and a point
	// which are identified by camera_index()[i] and
	// point_index()[i] respectively.
	double* camera = cameras + 9 * camera_index_[i];
	double* point = points + 3 * point_index()[i];
	problem_.AddResidualBlock(cost_function, nullptr, camera, point);
	}

	options_.linear_solver_ordering =
	std::make_shared<ParameterBlockOrdering>();

	// The points come before the cameras.
	for (int i = 0; i < num_points_; ++i) {
	options_.linear_solver_ordering->AddElementToGroup(points + 3 * i, 0);
	}

	for (int i = 0; i < num_cameras_; ++i) {
	options_.linear_solver_ordering->AddElementToGroup(cameras + 9 * i, 1);
	}

	options_.linear_solver_type = DENSE_SCHUR;
	options_.max_num_iterations = 25;
	options_.function_tolerance = 1e-10;
	options_.gradient_tolerance = 1e-10;
	options_.parameter_tolerance = 1e-10;
	}

	template <typename T>
	void FscanfOrDie(FILE* fptr, const char* format, T* value) {
	int num_scanned = fscanf(fptr, format, value);
	if (num_scanned != 1) {
	LOG(FATAL) << "Invalid UW data file.";
	}
	}

	// Templated pinhole camera model. The camera is parameterized
	// using 9 parameters. 3 for rotation, 3 for translation, 1 for
	// focal length and 2 for radial distortion. The principal point is
	// not modeled (i.e. it is assumed to be located at the image
	// center).
	struct BundlerResidual {
	// (u, v): the position of the observation with respect to the image
	// center point.
	BundlerResidual(double u, double v) : u(u), v(v) {}

	template <typename T>
	bool operator()(const T* const camera,
	const T* const point,
	T* residuals) const {
	T p[3];
	AngleAxisRotatePoint(camera, point, p);

	// Add the translation vector
	p[0] += camera[3];
	p[1] += camera[4];
	p[2] += camera[5];

	const T& focal = camera[6];
	const T& l1 = camera[7];
	const T& l2 = camera[8];

	// Compute the center of distortion. The sign change comes from
	// the camera model that Noah Snavely's Bundler assumes, whereby
	// the camera coordinate system has a negative z axis.
	T xp = -focal * p[0] / p[2];
	T yp = -focal * p[1] / p[2];

	// Apply second and fourth order radial distortion.
	T r2 = xp * xp + yp * yp;
	T distortion = T(1.0) + r2 * (l1 + l2 * r2);

	residuals[0] = distortion * xp - u;
	residuals[1] = distortion * yp - v;

	return true;
	}

	double u;
	double v;
	};

	Problem problem_;
	Solver::Options options_;

	int num_cameras_;
	int num_points_;
	int num_observations_;
	int num_parameters_;

	int* point_index_;
	int* camera_index_;
	double* observations_;
	// The parameter vector is laid out as follows
	// [camera_1, ..., camera_n, point_1, ..., point_m]
	double* parameters_;
	};

	using BundleAdjustmentTest = SystemTest<BundleAdjustmentProblem>;

	} // namespace internal
	} // namespace ceres