110 lines
4.6 KiB
C++
110 lines
4.6 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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void WriteToPLYFile(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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const double* cameras() 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) const;
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void AngleAxisAndCenterToCamera(const double* angle_axis,
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const double* center,
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double* camera) const;
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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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