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+// 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
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// 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_