Function BuildProblem

examples/bundle_adjuster.cc:305–346

}

void BuildProblem(BALProblem* bal_problem, Problem* problem) {
  const int point_block_size = bal_problem->point_block_size();
  const int camera_block_size = bal_problem->camera_block_size();
  double* points = bal_problem->mutable_points();
  double* cameras = bal_problem->mutable_cameras();

  // Observations is 2*num_observations long array observations =
  // [u_1, u_2, ... , u_n], where each u_i is two dimensional, the x
  // and y positions of the observation.
  const double* observations = bal_problem->observations();
  for (int i = 0; i < bal_problem->num_observations(); ++i) {
    CostFunction* cost_function;
    // Each Residual block takes a point and a camera as input and
    // outputs a 2 dimensional residual.
    cost_function = (CERES_GET_FLAG(FLAGS_use_quaternions))
                        ? SnavelyReprojectionErrorWithQuaternions::Create(
                              observations[2 * i + 0], observations[2 * i + 1])
                        : SnavelyReprojectionError::Create(
                              observations[2 * i + 0], observations[2 * i + 1]);

    // If enabled use Huber's loss function.
    LossFunction* loss_function =
        CERES_GET_FLAG(FLAGS_robustify) ? new HuberLoss(1.0) : nullptr;

    // Each observation corresponds to a pair of a camera and a point
    // which are identified by camera_index()[i] and point_index()[i]
    // respectively.
    double* camera =
        cameras + camera_block_size * bal_problem->camera_index()[i];
    double* point = points + point_block_size * bal_problem->point_index()[i];
    problem->AddResidualBlock(cost_function, loss_function, camera, point);
  }

  if (CERES_GET_FLAG(FLAGS_use_quaternions) &&
      CERES_GET_FLAG(FLAGS_use_manifolds)) {
    Manifold* camera_manifold =
        new ProductManifold<QuaternionManifold, EuclideanManifold<6>>{};
    for (int i = 0; i < bal_problem->num_cameras(); ++i) {
      problem->SetManifold(cameras + camera_block_size * i, camera_manifold);
    }
  }
}

void SolveProblem(const char* filename) {
  BALProblem bal_problem(filename, CERES_GET_FLAG(FLAGS_use_quaternions));