MYNT-EYE-S-SDK/3rdparty/ceres-solver-1.11.0/examples/bal_problem.h
2019-01-03 16:25:18 +08:00

110 lines
4.6 KiB
C++

// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2015 Google Inc. All rights reserved.
// http://ceres-solver.org/
//
// 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
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// 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;
void WriteToPLYFile(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_; }
const double* cameras() 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) const;
void AngleAxisAndCenterToCamera(const double* angle_axis,
const double* center,
double* camera) const;
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_