| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 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 |
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| // POSSIBILITY OF SUCH DAMAGE. |
| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Class for loading and holding in memory bundle adjustment problems |
| // from the BAL (Bundle Adjustment in the Large) dataset from the |
| // University of Washington. |
| // |
| // For more details see http://grail.cs.washington.edu/projects/bal/ |
| |
| #ifndef CERES_EXAMPLES_BAL_PROBLEM_H_ |
| #define CERES_EXAMPLES_BAL_PROBLEM_H_ |
| |
| #include <string> |
| |
| namespace ceres::examples { |
| |
| class BALProblem { |
| public: |
| explicit BALProblem(const std::string& filename, bool use_quaternions); |
| ~BALProblem(); |
| |
| void WriteToFile(const std::string& filename) const; |
| void WriteToPLYFile(const std::string& filename) const; |
| |
| // Move the "center" of the reconstruction to the origin, where the |
| // center is determined by computing the marginal median of the |
| // points. The reconstruction is then scaled so that the median |
| // absolute deviation of the points measured from the origin is |
| // 100.0. |
| // |
| // The reprojection error of the problem remains the same. |
| void Normalize(); |
| |
| // Perturb the camera pose and the geometry with random normal |
| // numbers with corresponding standard deviations. |
| void Perturb(const double rotation_sigma, |
| const double translation_sigma, |
| const double point_sigma); |
| |
| // clang-format off |
| int camera_block_size() const { return use_quaternions_ ? 10 : 9; } |
| int point_block_size() const { return 3; } |
| int num_cameras() const { return num_cameras_; } |
| int num_points() const { return num_points_; } |
| int num_observations() const { return num_observations_; } |
| int num_parameters() const { return num_parameters_; } |
| const int* point_index() const { return point_index_; } |
| const int* camera_index() const { return camera_index_; } |
| const double* observations() const { return observations_; } |
| const double* parameters() const { return parameters_; } |
| const double* cameras() const { return parameters_; } |
| double* mutable_cameras() { return parameters_; } |
| // clang-format on |
| double* mutable_points() { |
| return parameters_ + camera_block_size() * num_cameras_; |
| } |
| |
| private: |
| void CameraToAngleAxisAndCenter(const double* camera, |
| double* angle_axis, |
| double* center) const; |
| |
| void AngleAxisAndCenterToCamera(const double* angle_axis, |
| const double* center, |
| double* camera) const; |
| int num_cameras_; |
| int num_points_; |
| int num_observations_; |
| int num_parameters_; |
| bool use_quaternions_; |
| |
| 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_; |
| }; |
| |
| } // namespace ceres::examples |
| |
| #endif // CERES_EXAMPLES_BAL_PROBLEM_H_ |