mirror of
https://github.com/ceres-solver/ceres-solver.git
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Keir Mierle
120 lines
4.2 KiB
C++
120 lines
4.2 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: sameeragarwal@google.com (Sameer Agarwal)
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#include "bal_problem.h"
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#include <cstdio>
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#include <cstdlib>
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#include <string>
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#include <glog/logging.h>
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#include "ceres/rotation.h"
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namespace ceres {
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namespace examples {
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template<typename T>
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void FscanfOrDie(FILE *fptr, const char *format, T *value) {
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int num_scanned = fscanf(fptr, format, value);
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if (num_scanned != 1) {
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LOG(FATAL) << "Invalid UW data file.";
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}
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}
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BALProblem::BALProblem(const std::string filename, bool use_quaternions) {
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FILE* fptr = fopen(filename.c_str(), "r");
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if (!fptr) {
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LOG(FATAL) << "Error: unable to open file " << filename;
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return;
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};
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// This wil die horribly on invalid files. Them's the breaks.
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FscanfOrDie(fptr, "%d", &num_cameras_);
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FscanfOrDie(fptr, "%d", &num_points_);
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FscanfOrDie(fptr, "%d", &num_observations_);
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VLOG(1) << "Header: " << num_cameras_
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<< " " << num_points_
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<< " " << num_observations_;
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point_index_ = new int[num_observations_];
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camera_index_ = new int[num_observations_];
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observations_ = new double[2 * num_observations_];
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num_parameters_ = 9 * num_cameras_ + 3 * num_points_;
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parameters_ = new double[num_parameters_];
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for (int i = 0; i < num_observations_; ++i) {
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FscanfOrDie(fptr, "%d", camera_index_ + i);
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FscanfOrDie(fptr, "%d", point_index_ + i);
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for (int j = 0; j < 2; ++j) {
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FscanfOrDie(fptr, "%lf", observations_ + 2*i + j);
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}
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}
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for (int i = 0; i < num_parameters_; ++i) {
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FscanfOrDie(fptr, "%lf", parameters_ + i);
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}
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use_quaternions_ = use_quaternions;
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if (use_quaternions) {
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// Switch the angle-axis rotations to quaternions.
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num_parameters_ = 10 * num_cameras_ + 3 * num_points_;
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double* quaternion_parameters = new double[num_parameters_];
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double* original_cursor = parameters_;
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double* quaternion_cursor = quaternion_parameters;
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for (int i = 0; i < num_cameras_; ++i) {
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AngleAxisToQuaternion(original_cursor, quaternion_cursor);
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quaternion_cursor += 4;
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original_cursor += 3;
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for (int j = 4; j < 10; ++j) {
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*quaternion_cursor++ = *original_cursor++;
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}
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}
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// Copy the rest of the points.
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for (int i = 0; i < 3 * num_points_; ++i) {
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*quaternion_cursor++ = *original_cursor++;
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}
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// Swap in the quaternion parameters.
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delete []parameters_;
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parameters_ = quaternion_parameters;
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}
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}
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BALProblem::~BALProblem() {
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delete []point_index_;
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delete []camera_index_;
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delete []observations_;
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delete []parameters_;
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}
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} // namespace examples
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} // namespace ceres
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