10ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Ceres Solver - A fast non-linear least squares minimizer 20ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Copyright 2010, 2011, 2012 Google Inc. All rights reserved. 30ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://code.google.com/p/ceres-solver/ 40ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 50ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Redistribution and use in source and binary forms, with or without 60ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// modification, are permitted provided that the following conditions are met: 70ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 80ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions of source code must retain the above copyright notice, 90ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer. 100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Redistributions in binary form must reproduce the above copyright notice, 110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// this list of conditions and the following disclaimer in the documentation 120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// and/or other materials provided with the distribution. 130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// * Neither the name of Google Inc. nor the names of its contributors may be 140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// used to endorse or promote products derived from this software without 150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// specific prior written permission. 160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// POSSIBILITY OF SUCH DAMAGE. 280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Author: keir@google.com (Keir Mierle) 300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// A minimal, self-contained bundle adjuster using Ceres, that reads 320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// files from University of Washington' Bundle Adjustment in the Large dataset: 330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// http://grail.cs.washington.edu/projects/bal 340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// 350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// This does not use the best configuration for solving; see the more involved 360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// bundle_adjuster.cc file for details. 370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <cmath> 390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <cstdio> 400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include <iostream> 410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/ceres.h" 430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong#include "ceres/rotation.h" 440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Read a Bundle Adjustment in the Large dataset. 460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongclass BALProblem { 470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong public: 480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ~BALProblem() { 490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong delete[] point_index_; 500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong delete[] camera_index_; 510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong delete[] observations_; 520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong delete[] parameters_; 530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_observations() const { return num_observations_; } 560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const double* observations() const { return observations_; } 570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* mutable_cameras() { return parameters_; } 580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* mutable_points() { return parameters_ + 9 * num_cameras_; } 590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* mutable_camera_for_observation(int i) { 610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return mutable_cameras() + camera_index_[i] * 9; 620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 630ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* mutable_point_for_observation(int i) { 640ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return mutable_points() + point_index_[i] * 3; 650ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 660ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 670ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bool LoadFile(const char* filename) { 680ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FILE* fptr = fopen(filename, "r"); 690ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (fptr == NULL) { 700ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return false; 710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong }; 720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%d", &num_cameras_); 740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%d", &num_points_); 750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%d", &num_observations_); 760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong point_index_ = new int[num_observations_]; 780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong camera_index_ = new int[num_observations_]; 790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong observations_ = new double[2 * num_observations_]; 800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong num_parameters_ = 9 * num_cameras_ + 3 * num_points_; 820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong parameters_ = new double[num_parameters_]; 830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_observations_; ++i) { 850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%d", camera_index_ + i); 860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%d", point_index_ + i); 870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int j = 0; j < 2; ++j) { 880ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%lf", observations_ + 2*i + j); 890ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < num_parameters_; ++i) { 930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong FscanfOrDie(fptr, "%lf", parameters_ + i); 940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 980ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong private: 990ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong template<typename T> 1000ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong void FscanfOrDie(FILE *fptr, const char *format, T *value) { 1010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_scanned = fscanf(fptr, format, value); 1020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (num_scanned != 1) { 1030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong LOG(FATAL) << "Invalid UW data file."; 1040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_cameras_; 1080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_points_; 1090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_observations_; 1100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int num_parameters_; 1110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* point_index_; 1130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong int* camera_index_; 1140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* observations_; 1150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double* parameters_; 1160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 1170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// Templated pinhole camera model for used with Ceres. The camera is 1190ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for 1200ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// focal length and 2 for radial distortion. The principal point is not modeled 1210ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong// (i.e. it is assumed be located at the image center). 1220ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongstruct SnavelyReprojectionError { 1230ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong SnavelyReprojectionError(double observed_x, double observed_y) 1240ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong : observed_x(observed_x), observed_y(observed_y) {} 1250ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1260ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong template <typename T> 1270ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bool operator()(const T* const camera, 1280ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const T* const point, 1290ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T* residuals) const { 1300ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // camera[0,1,2] are the angle-axis rotation. 1310ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T p[3]; 1320ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ceres::AngleAxisRotatePoint(camera, point, p); 1330ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1340ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // camera[3,4,5] are the translation. 1350ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong p[0] += camera[3]; 1360ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong p[1] += camera[4]; 1370ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong p[2] += camera[5]; 1380ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1390ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Compute the center of distortion. The sign change comes from 1400ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the camera model that Noah Snavely's Bundler assumes, whereby 1410ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // the camera coordinate system has a negative z axis. 1420ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T xp = - p[0] / p[2]; 1430ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T yp = - p[1] / p[2]; 1440ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1450ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Apply second and fourth order radial distortion. 1460ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const T& l1 = camera[7]; 1470ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const T& l2 = camera[8]; 1480ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T r2 = xp*xp + yp*yp; 1490ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T distortion = T(1.0) + r2 * (l1 + l2 * r2); 1500ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1510ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Compute final projected point position. 1520ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong const T& focal = camera[6]; 1530ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T predicted_x = focal * distortion * xp; 1540ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong T predicted_y = focal * distortion * yp; 1550ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1560ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // The error is the difference between the predicted and observed position. 1570ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals[0] = predicted_x - T(observed_x); 1580ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong residuals[1] = predicted_y - T(observed_y); 1590ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1600ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return true; 1610ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1620ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1631d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // Factory to hide the construction of the CostFunction object from 1641d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling // the client code. 1651d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling static ceres::CostFunction* Create(const double observed_x, 1661d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const double observed_y) { 1671d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>( 1681d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling new SnavelyReprojectionError(observed_x, observed_y))); 1691d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling } 1701d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1710ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double observed_x; 1720ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong double observed_y; 1730ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong}; 1740ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1750ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kongint main(int argc, char** argv) { 1760ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong google::InitGoogleLogging(argv[0]); 1770ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (argc != 2) { 1780ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong std::cerr << "usage: simple_bundle_adjuster <bal_problem>\n"; 1790ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return 1; 1800ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1810ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1820ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong BALProblem bal_problem; 1830ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong if (!bal_problem.LoadFile(argv[1])) { 1840ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong std::cerr << "ERROR: unable to open file " << argv[1] << "\n"; 1850ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return 1; 1860ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 1870ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1881d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling const double* observations = bal_problem.observations(); 1891d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling 1900ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Create residuals for each observation in the bundle adjustment problem. The 1910ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // parameters for cameras and points are added automatically. 1920ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ceres::Problem problem; 1930ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong for (int i = 0; i < bal_problem.num_observations(); ++i) { 1940ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Each Residual block takes a point and a camera as input and outputs a 2 1950ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // dimensional residual. Internally, the cost function stores the observed 1960ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // image location and compares the reprojection against the observation. 1970ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 1981d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling ceres::CostFunction* cost_function = 1991d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling SnavelyReprojectionError::Create(observations[2 * i + 0], 2001d2624a10e2c559f8ba9ef89eaa30832c0a83a96Sascha Haeberling observations[2 * i + 1]); 2010ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong problem.AddResidualBlock(cost_function, 2020ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong NULL /* squared loss */, 2030ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bal_problem.mutable_camera_for_observation(i), 2040ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong bal_problem.mutable_point_for_observation(i)); 2050ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong } 2060ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2070ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // Make Ceres automatically detect the bundle structure. Note that the 2080ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // standard solver, SPARSE_NORMAL_CHOLESKY, also works fine but it is slower 2090ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong // for standard bundle adjustment problems. 2100ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ceres::Solver::Options options; 2110ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options.linear_solver_type = ceres::DENSE_SCHUR; 2120ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong options.minimizer_progress_to_stdout = true; 2130ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong 2140ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ceres::Solver::Summary summary; 2150ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong ceres::Solve(options, &problem, &summary); 2160ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong std::cout << summary.FullReport() << "\n"; 2170ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong return 0; 2180ae28bd5885b5daa526898fcf7c323dc2c3e1963Angus Kong} 219