| 65 | } |
| 66 | |
| 67 | bool LoadFile(const char* filename) { |
| 68 | FILE* fptr = fopen(filename, "r"); |
| 69 | if (fptr == nullptr) { |
| 70 | return false; |
| 71 | }; |
| 72 | |
| 73 | FscanfOrDie(fptr, "%d", &num_cameras_); |
| 74 | FscanfOrDie(fptr, "%d", &num_points_); |
| 75 | FscanfOrDie(fptr, "%d", &num_observations_); |
| 76 | |
| 77 | point_index_ = new int[num_observations_]; |
| 78 | camera_index_ = new int[num_observations_]; |
| 79 | observations_ = new double[2 * num_observations_]; |
| 80 | |
| 81 | num_parameters_ = 9 * num_cameras_ + 3 * num_points_; |
| 82 | parameters_ = new double[num_parameters_]; |
| 83 | |
| 84 | for (int i = 0; i < num_observations_; ++i) { |
| 85 | FscanfOrDie(fptr, "%d", camera_index_ + i); |
| 86 | FscanfOrDie(fptr, "%d", point_index_ + i); |
| 87 | for (int j = 0; j < 2; ++j) { |
| 88 | FscanfOrDie(fptr, "%lf", observations_ + 2 * i + j); |
| 89 | } |
| 90 | } |
| 91 | |
| 92 | for (int i = 0; i < num_parameters_; ++i) { |
| 93 | FscanfOrDie(fptr, "%lf", parameters_ + i); |
| 94 | } |
| 95 | return true; |
| 96 | } |
| 97 | |
| 98 | private: |
| 99 | template <typename T> |