| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2018 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 <cmath> |
| #include <cstdio> |
| #include <cstdlib> |
| #include <string> |
| |
| #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/stringprintf.h" |
| #include "ceres/test_util.h" |
| #include "ceres/types.h" |
| #include "glog/logging.h" |
| |
| namespace ceres { |
| namespace internal { |
| |
| using std::string; |
| using std::vector; |
| |
| 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: |
| BundleAdjustmentProblem(const std::string input_file) { |
| ReadData(input_file); |
| BuildProblem(); |
| } |
| BundleAdjustmentProblem() { |
| const 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_; } |
| // clang-format on |
| |
| static double kResidualTolerance; |
| |
| private: |
| void ReadData(const 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_; |
| }; |
| |
| double BundleAdjustmentProblem::kResidualTolerance = 1e-4; |
| using BundleAdjustmentTest = SystemTest<BundleAdjustmentProblem>; |
| |
| } // namespace internal |
| } // namespace ceres |