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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)
+//
+// 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 {
+namespace examples {
+
+class BALProblem {
+ public:
+  explicit BALProblem(const std::string filename, bool use_quaternions);
+  ~BALProblem();
+
+  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_;               }
+  double* mutable_cameras()          { return parameters_;               }
+  double* mutable_points() {
+    return parameters_  + camera_block_size() * num_cameras_;
+  }
+
+ private:
+  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 examples
+}  // namespace ceres
+
+#endif  // CERES_EXAMPLES_BAL_PROBLEM_H_