Randomly perturb the bundle adjustment problem.
1. Add the ability to perturb the camera pose and the
point positions using user specified parameters.
2. Re-order the flags.
3. Minor name correction.
4. Added Box-Mueller generator to random.h
Change-Id: I2c9ce74c237f5bde9a7299cc71b205d1ca9bc742
diff --git a/examples/bal_problem.cc b/examples/bal_problem.cc
index 6c65a20..f73e805 100644
--- a/examples/bal_problem.cc
+++ b/examples/bal_problem.cc
@@ -34,6 +34,7 @@
#include <cstdlib>
#include <string>
#include <glog/logging.h>
+#include "ceres/random.h"
#include "ceres/rotation.h"
namespace ceres {
@@ -110,6 +111,54 @@
}
}
+void BALProblem::Perturb(const double rotation_sigma,
+ const double translation_sigma,
+ const double point_sigma) {
+ CHECK_GE(point_sigma, 0.0);
+ CHECK_GE(rotation_sigma, 0.0);
+ CHECK_GE(translation_sigma, 0.0);
+
+ double* points = mutable_points();
+ if (point_sigma > 0) {
+ for (int i = 0; i < 3 * num_points_; ++i) {
+ points[i] += point_sigma * RandNormal();
+ }
+ }
+
+ for (int i = 0; i < num_cameras_; ++i) {
+ double* camera = mutable_cameras() + camera_block_size() * i;
+
+ // First three coordinates of the camera rotation are shared
+ // between the angle-axis and the quaternion representations.
+ if (rotation_sigma > 0.0) {
+ camera[0] += rotation_sigma * RandNormal();
+ camera[1] += rotation_sigma * RandNormal();
+ camera[2] += rotation_sigma * RandNormal();
+
+ if (use_quaternions_) {
+ camera[4] += rotation_sigma * RandNormal();
+
+ // Normalize the quaternion.
+ double norm = 0.0;
+ for (int j = 0; j < 4; ++j) {
+ norm += camera[j] * camera[j];
+ }
+ norm = sqrt(norm);
+ for (int j = 0; j < 4; ++j) {
+ camera[j] /= norm;
+ }
+ }
+ }
+
+ if (translation_sigma > 0.0) {
+ // Translation.
+ camera[camera_block_size() - 5] += translation_sigma * RandNormal();
+ camera[camera_block_size() - 4] += translation_sigma * RandNormal();
+ camera[camera_block_size() - 3] += translation_sigma * RandNormal();
+ }
+ }
+}
+
BALProblem::~BALProblem() {
delete []point_index_;
delete []camera_index_;
diff --git a/examples/bal_problem.h b/examples/bal_problem.h
index ff411b8..95e8d8f 100644
--- a/examples/bal_problem.h
+++ b/examples/bal_problem.h
@@ -47,6 +47,12 @@
explicit BALProblem(const std::string filename, bool use_quaternions);
~BALProblem();
+ // 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);
+
int camera_block_size() const { return use_quaternions_ ? 10 : 9; }
int point_block_size() const { return 3; }
int num_cameras() const { return num_cameras_; }
diff --git a/examples/bundle_adjuster.cc b/examples/bundle_adjuster.cc
index bb8d3b4..8f1b38b 100644
--- a/examples/bundle_adjuster.cc
+++ b/examples/bundle_adjuster.cc
@@ -62,8 +62,19 @@
#include "bal_problem.h"
#include "snavely_reprojection_error.h"
#include "ceres/ceres.h"
+#include "ceres/random.h"
DEFINE_string(input, "", "Input File name");
+DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
+ "rotations. If false, angle axis is used");
+DEFINE_bool(use_local_parameterization, false, "For quaternions, use a local "
+ "parameterization.");
+DEFINE_bool(robustify, false, "Use a robust loss function");
+
+DEFINE_string(trust_region_strategy, "lm", "Options are: lm, dogleg");
+DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
+ "accuracy of each linear solve of the truncated newton step. "
+ "Changing this parameter can affect solve performance ");
DEFINE_string(solver_type, "sparse_schur", "Options are: "
"sparse_schur, dense_schur, iterative_schur, cholesky, "
"dense_qr, and conjugate_gradients");
@@ -72,23 +83,27 @@
"cluster_tridiagonal");
DEFINE_string(sparse_linear_algebra_library, "suitesparse",
"Options are: suitesparse and cxsparse");
-DEFINE_int32(num_iterations, 5, "Number of iterations");
-DEFINE_int32(num_threads, 1, "Number of threads");
-DEFINE_double(eta, 1e-2, "Default value for eta. Eta determines the "
- "accuracy of each linear solve of the truncated newton step. "
- "Changing this parameter can affect solve performance ");
+
DEFINE_string(ordering_type, "schur", "Options are: schur, user, natural");
-DEFINE_bool(use_quaternions, false, "If true, uses quaternions to represent "
- "rotations. If false, angle axis is used");
-DEFINE_bool(use_local_parameterization, false, "For quaternions, use a local "
- "parameterization.");
-DEFINE_bool(robustify, false, "Use a robust loss function");
-DEFINE_bool(use_block_amd, true, "Use a block oriented fill reducing ordering.");
-DEFINE_string(trust_region_strategy, "lm", "Options are: lm, dogleg");
+DEFINE_bool(use_block_amd, true, "Use a block oriented fill reducing "
+ "ordering.");
+
+DEFINE_int32(num_threads, 1, "Number of threads");
+DEFINE_int32(num_iterations, 5, "Number of iterations");
DEFINE_double(max_solver_time, 1e32, "Maximum solve time in seconds.");
DEFINE_bool(nonmonotonic_steps, false, "Trust region algorithm can use"
" nonmonotic steps");
+DEFINE_double(rotation_sigma, 0.0, "Standard deviation of camera rotation "
+ "perturbation.");
+DEFINE_double(translation_sigma, 0.0, "Standard deviation of the camera "
+ "translation perturbation.");
+DEFINE_double(point_sigma, 0.0, "Standard deviation of the point "
+ "perturbation");
+DEFINE_int32(random_seed, 38401, "Random seed used to set the state "
+ "of the pseudo random number generator used to generate "
+ "the pertubations.");
+
namespace ceres {
namespace examples {
@@ -242,6 +257,7 @@
}
void BuildProblem(BALProblem* bal_problem, Problem* problem) {
+ SetRandomState(FLAGS_random_seed);
const int point_block_size = bal_problem->point_block_size();
const int camera_block_size = bal_problem->camera_block_size();
double* points = bal_problem->mutable_points();
@@ -258,8 +274,8 @@
// outputs a 2 dimensional residual.
if (FLAGS_use_quaternions) {
cost_function = new AutoDiffCostFunction<
- SnavelyReprojectionErrorWitQuaternions, 2, 4, 6, 3>(
- new SnavelyReprojectionErrorWitQuaternions(
+ SnavelyReprojectionErrorWithQuaternions, 2, 4, 6, 3>(
+ new SnavelyReprojectionErrorWithQuaternions(
observations[2 * i + 0],
observations[2 * i + 1]));
} else {
@@ -307,6 +323,12 @@
void SolveProblem(const char* filename) {
BALProblem bal_problem(filename, FLAGS_use_quaternions);
Problem problem;
+
+ SetRandomState(FLAGS_random_seed);
+ bal_problem.Perturb(FLAGS_rotation_sigma,
+ FLAGS_translation_sigma,
+ FLAGS_point_sigma);
+
BuildProblem(&bal_problem, &problem);
Solver::Options options;
SetSolverOptionsFromFlags(&bal_problem, &options);
diff --git a/examples/snavely_reprojection_error.h b/examples/snavely_reprojection_error.h
index e43538f..eaf4129 100644
--- a/examples/snavely_reprojection_error.h
+++ b/examples/snavely_reprojection_error.h
@@ -100,10 +100,10 @@
// translation, 1 for focal length and 2 for radial distortion. The
// principal point is not modeled (i.e. it is assumed be located at
// the image center).
-struct SnavelyReprojectionErrorWitQuaternions {
+struct SnavelyReprojectionErrorWithQuaternions {
// (u, v): the position of the observation with respect to the image
// center point.
- SnavelyReprojectionErrorWitQuaternions(double observed_x, double observed_y)
+ SnavelyReprojectionErrorWithQuaternions(double observed_x, double observed_y)
: observed_x(observed_x), observed_y(observed_y) {}
template <typename T>
