mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-30 00:50:37 +08:00
Keir Mierle
7492b0d8de
Since Ceres is moving to using GitHub for issues, and the Google Code URL in the current copyright header will soon become invalid, update all the headers. Change-Id: I1fce70375d1bcf098591f07b4d8f01a5c1e0789c
108 lines
4.4 KiB
C++
108 lines
4.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2015 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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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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//
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// Class for loading and holding in memory bundle adjustment problems
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// from the BAL (Bundle Adjustment in the Large) dataset from the
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// University of Washington.
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//
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// For more details see http://grail.cs.washington.edu/projects/bal/
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#ifndef CERES_EXAMPLES_BAL_PROBLEM_H_
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#define CERES_EXAMPLES_BAL_PROBLEM_H_
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#include <string>
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namespace ceres {
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namespace examples {
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class BALProblem {
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public:
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explicit BALProblem(const std::string& filename, bool use_quaternions);
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~BALProblem();
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void WriteToFile(const std::string& filename) const;
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// Move the "center" of the reconstruction to the origin, where the
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// center is determined by computing the marginal median of the
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// points. The reconstruction is then scaled so that the median
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// absolute deviation of the points measured from the origin is
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// 100.0.
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//
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// The reprojection error of the problem remains the same.
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void Normalize();
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// Perturb the camera pose and the geometry with random normal
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// numbers with corresponding standard deviations.
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void Perturb(const double rotation_sigma,
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const double translation_sigma,
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const double point_sigma);
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int camera_block_size() const { return use_quaternions_ ? 10 : 9; }
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int point_block_size() const { return 3; }
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int num_cameras() const { return num_cameras_; }
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int num_points() const { return num_points_; }
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int num_observations() const { return num_observations_; }
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int num_parameters() const { return num_parameters_; }
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const int* point_index() const { return point_index_; }
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const int* camera_index() const { return camera_index_; }
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const double* observations() const { return observations_; }
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const double* parameters() const { return parameters_; }
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double* mutable_cameras() { return parameters_; }
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double* mutable_points() {
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return parameters_ + camera_block_size() * num_cameras_;
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}
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private:
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void CameraToAngleAxisAndCenter(const double* camera,
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double* angle_axis,
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double* center);
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void AngleAxisAndCenterToCamera(const double* angle_axis,
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const double* center,
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double* camera);
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int num_cameras_;
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int num_points_;
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int num_observations_;
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int num_parameters_;
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bool use_quaternions_;
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int* point_index_;
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int* camera_index_;
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double* observations_;
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// The parameter vector is laid out as follows
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// [camera_1, ..., camera_n, point_1, ..., point_m]
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double* parameters_;
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};
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} // namespace examples
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} // namespace ceres
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#endif // CERES_EXAMPLES_BAL_PROBLEM_H_
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