// Ceres Solver - A fast non-linear least squares minimizer

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// 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_