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/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);
