1 // Ceres Solver - A fast non-linear least squares minimizer
2 // Copyright 2015 Google Inc. All rights reserved.
3 // http://ceres-solver.org/
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29 // Author: sameeragarwal@google.com (Sameer Agarwal)
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.
35 // For more details see http://grail.cs.washington.edu/projects/bal/
37 #ifndef CERES_EXAMPLES_BAL_PROBLEM_H_
38 #define CERES_EXAMPLES_BAL_PROBLEM_H_
47 explicit BALProblem(const std::string& filename, bool use_quaternions);
50 void WriteToFile(const std::string& filename) const;
51 void WriteToPLYFile(const std::string& filename) const;
53 // Move the "center" of the reconstruction to the origin, where the
54 // center is determined by computing the marginal median of the
55 // points. The reconstruction is then scaled so that the median
56 // absolute deviation of the points measured from the origin is
59 // The reprojection error of the problem remains the same.
62 // Perturb the camera pose and the geometry with random normal
63 // numbers with corresponding standard deviations.
64 void Perturb(const double rotation_sigma,
65 const double translation_sigma,
66 const double point_sigma);
68 int camera_block_size() const { return use_quaternions_ ? 10 : 9; }
69 int point_block_size() const { return 3; }
70 int num_cameras() const { return num_cameras_; }
71 int num_points() const { return num_points_; }
72 int num_observations() const { return num_observations_; }
73 int num_parameters() const { return num_parameters_; }
74 const int* point_index() const { return point_index_; }
75 const int* camera_index() const { return camera_index_; }
76 const double* observations() const { return observations_; }
77 const double* parameters() const { return parameters_; }
78 const double* cameras() const { return parameters_; }
79 double* mutable_cameras() { return parameters_; }
80 double* mutable_points() {
81 return parameters_ + camera_block_size() * num_cameras_;
85 void CameraToAngleAxisAndCenter(const double* camera,
87 double* center) const;
89 void AngleAxisAndCenterToCamera(const double* angle_axis,
91 double* camera) const;
94 int num_observations_;
96 bool use_quaternions_;
100 double* observations_;
101 // The parameter vector is laid out as follows
102 // [camera_1, ..., camera_n, point_1, ..., point_m]
106 } // namespace examples
109 #endif // CERES_EXAMPLES_BAL_PROBLEM_H_