1// Ceres Solver - A fast non-linear least squares minimizer 2// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 3// http://code.google.com/p/ceres-solver/ 4// 5// Redistribution and use in source and binary forms, with or without 6// modification, are permitted provided that the following conditions are met: 7// 8// * Redistributions of source code must retain the above copyright notice, 9// this list of conditions and the following disclaimer. 10// * Redistributions in binary form must reproduce the above copyright notice, 11// this list of conditions and the following disclaimer in the documentation 12// and/or other materials provided with the distribution. 13// * Neither the name of Google Inc. nor the names of its contributors may be 14// used to endorse or promote products derived from this software without 15// specific prior written permission. 16// 17// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 18// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 19// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 20// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 21// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 22// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 23// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 24// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 25// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 26// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 27// POSSIBILITY OF SUCH DAMAGE. 28// 29// Author: sameeragarwal@google.com (Sameer Agarwal) 30// 31// Class for loading and holding in memory bundle adjustment problems 32// from the BAL (Bundle Adjustment in the Large) dataset from the 33// University of Washington. 34// 35// For more details see http://grail.cs.washington.edu/projects/bal/ 36 37#ifndef CERES_EXAMPLES_BAL_PROBLEM_H_ 38#define CERES_EXAMPLES_BAL_PROBLEM_H_ 39 40#include <string> 41 42namespace ceres { 43namespace examples { 44 45class BALProblem { 46 public: 47 explicit BALProblem(const std::string& filename, bool use_quaternions); 48 ~BALProblem(); 49 50 void WriteToFile(const std::string& filename) const; 51 52 // Move the "center" of the reconstruction to the origin, where the 53 // center is determined by computing the marginal median of the 54 // points. The reconstruction is then scaled so that the median 55 // absolute deviation of the points measured from the origin is 56 // 100.0. 57 // 58 // The reprojection error of the problem remains the same. 59 void Normalize(); 60 61 // Perturb the camera pose and the geometry with random normal 62 // numbers with corresponding standard deviations. 63 void Perturb(const double rotation_sigma, 64 const double translation_sigma, 65 const double point_sigma); 66 67 int camera_block_size() const { return use_quaternions_ ? 10 : 9; } 68 int point_block_size() const { return 3; } 69 int num_cameras() const { return num_cameras_; } 70 int num_points() const { return num_points_; } 71 int num_observations() const { return num_observations_; } 72 int num_parameters() const { return num_parameters_; } 73 const int* point_index() const { return point_index_; } 74 const int* camera_index() const { return camera_index_; } 75 const double* observations() const { return observations_; } 76 const double* parameters() const { return parameters_; } 77 double* mutable_cameras() { return parameters_; } 78 double* mutable_points() { 79 return parameters_ + camera_block_size() * num_cameras_; 80 } 81 82 private: 83 void CameraToAngleAxisAndCenter(const double* camera, 84 double* angle_axis, 85 double* center); 86 87 void AngleAxisAndCenterToCamera(const double* angle_axis, 88 const double* center, 89 double* camera); 90 int num_cameras_; 91 int num_points_; 92 int num_observations_; 93 int num_parameters_; 94 bool use_quaternions_; 95 96 int* point_index_; 97 int* camera_index_; 98 double* observations_; 99 // The parameter vector is laid out as follows 100 // [camera_1, ..., camera_n, point_1, ..., point_m] 101 double* parameters_; 102}; 103 104} // namespace examples 105} // namespace ceres 106 107#endif // CERES_EXAMPLES_BAL_PROBLEM_H_ 108