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diff --git a/examples/bal_problem.h b/examples/bal_problem.h new file mode 100644 index 0000000..9173246 --- /dev/null +++ b/examples/bal_problem.h @@ -0,0 +1,107 @@ +// 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(); + + void WriteToFile(const std::string& filename) const; + + // Move the "center" of the reconstruction to the origin, where the + // center is determined by computing the marginal median of the + // points. The reconstruction is then scaled so that the median + // absolute deviation of the points measured from the origin is + // 100.0. + // + // The reprojection error of the problem remains the same. + void Normalize(); + + // Perturb the camera pose and the geometry with random normal + // numbers with corresponding standard deviations. + void Perturb(const double rotation_sigma, + const double translation_sigma, + const double point_sigma); + + 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: + void CameraToAngleAxisAndCenter(const double* camera, + double* angle_axis, + double* center); + + void AngleAxisAndCenterToCamera(const double* angle_axis, + const double* center, + double* camera); + 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_ |