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//
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6// modification, are permitted provided that the following conditions are met:
7//
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9//   this list of conditions and the following disclaimer.
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12//   and/or other materials provided with the distribution.
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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
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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