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      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 (at) 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 
     42 namespace ceres {
     43 namespace examples {
     44 
     45 class 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