Initial commit of Ceres Solver.
diff --git a/examples/bal_problem.cc b/examples/bal_problem.cc
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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
+// http://code.google.com/p/ceres-solver/
+//
+// 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: sameeragarwal@google.com (Sameer Agarwal)
+
+#include "bal_problem.h"
+
+#include <cstdio>
+#include <cstdlib>
+#include <string>
+#include <glog/logging.h>
+#include "ceres/rotation.h"
+
+namespace ceres {
+namespace examples {
+
+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.";
+ }
+}
+
+BALProblem::BALProblem(const std::string filename, bool use_quaternions) {
+ FILE* fptr = fopen(filename.c_str(), "r");
+
+ if (!fptr) {
+ LOG(FATAL) << "Error: unable to open file " << filename;
+ return;
+ };
+
+ // This wil 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);
+ }
+
+ use_quaternions_ = use_quaternions;
+ if (use_quaternions) {
+ // Switch the angle-axis rotations to quaternions.
+ num_parameters_ = 10 * num_cameras_ + 3 * num_points_;
+ double* quaternion_parameters = new double[num_parameters_];
+ double* original_cursor = parameters_;
+ double* quaternion_cursor = quaternion_parameters;
+ for (int i = 0; i < num_cameras_; ++i) {
+ AngleAxisToQuaternion(original_cursor, quaternion_cursor);
+ quaternion_cursor += 4;
+ original_cursor += 3;
+ for (int j = 4; j < 10; ++j) {
+ *quaternion_cursor++ = *original_cursor++;
+ }
+ }
+ // Copy the rest of the points.
+ for (int i = 0; i < 3 * num_points_; ++i) {
+ *quaternion_cursor++ = *original_cursor++;
+ }
+ // Swap in the quaternion parameters.
+ delete []parameters_;
+ parameters_ = quaternion_parameters;
+ }
+}
+
+BALProblem::~BALProblem() {
+ delete []point_index_;
+ delete []camera_index_;
+ delete []observations_;
+ delete []parameters_;
+}
+
+} // namespace examples
+} // namespace ceres
