1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
|
////////////////////////////////////////////////////////////////////////////
// File: pba.h
// Author: Changchang Wu (ccwu@cs.washington.edu)
// Description : interface of class ParallelBA, which has two
//implementations
// SparseBundleCU for CUDA-based version, and
// SparseBundleCPU<Float> for CPU multi-threading version
//
// Copyright (c) 2011 Changchang Wu (ccwu@cs.washington.edu)
// and the University of Washington at Seattle
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public
// License as published by the Free Software Foundation; either
// Version 3 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Public License for more details.
//
////////////////////////////////////////////////////////////////////////////////
#ifndef PARALLEL_BA_H
#define PARALLEL_BA_H
#if defined(_WIN32)
#ifdef PBA_DLL
#ifdef DLL_EXPORT
#define PBA_EXPORT __declspec(dllexport)
#else
#define PBA_EXPORT __declspec(dllimport)
#endif
#else
#define PBA_EXPORT
#endif
#define PBA_EXPORT_EXTERN PBA_EXPORT
#if _MSC_VER > 1000
#pragma once
#endif
#else
#define PBA_EXPORT
#define PBA_EXPORT_EXTERN extern "C"
#endif
// filetype definitions for points and camera
#include "DataInterface.h"
#include "ConfigBA.h"
namespace pba {
class ParallelBA {
public:
enum StatusT {
STATUS_SUCCESS = 0,
STATUS_CAMERA_MISSING = 1,
STATUS_POINT_MISSING,
STATUS_PROJECTION_MISSING,
STATUS_MEASURMENT_MISSING,
STATUS_ALLOCATION_FAIL
};
enum DeviceT {
PBA_INVALID_DEVICE = -4,
PBA_CPU_DOUBLE = -3,
PBA_CPU_FLOAT = -2,
PBA_CUDA_DEVICE_DEFAULT = -1,
PBA_CUDA_DEVICE0 = 0
};
enum DistortionT {
PBA_MEASUREMENT_DISTORTION = -1, // single parameter, apply to measurements
PBA_NO_DISTORTION = 0, // no radial distortion
PBA_PROJECTION_DISTORTION = 1 // single parameter, apply to projectino
};
enum BundleModeT {
BUNDLE_FULL = 0,
BUNDLE_ONLY_MOTION = 1,
BUNDLE_ONLY_STRUCTURE = 2,
};
private:
ParallelBA* _optimizer;
public:
////////////////////////////////////////////////////
// methods for changing bundle adjustment settings
PBA_EXPORT virtual void ParseParam(int narg, char** argv); // indirect method
PBA_EXPORT virtual ConfigBA* GetInternalConfig(); // direct method
PBA_EXPORT virtual void SetFixedIntrinsics(
bool fixed); // call this for calibrated system
PBA_EXPORT virtual void EnableRadialDistortion(
DistortionT type); // call this to enable radial distortion
PBA_EXPORT virtual void SetNextTimeBudget(
int seconds); //# of seconds for next run (0 = no limit)
PBA_EXPORT virtual void ReserveStorage(size_t ncam, size_t npt, size_t nproj);
public:
// function name change; the old one is mapped as inline function
inline void SetFocalLengthFixed(bool fixed) { SetFixedIntrinsics(fixed); }
inline void ResetBundleStorage() {
ReserveStorage(0, 0, 0); /*Reset devide for CUDA*/
}
public:
/////////////////////////////////////////////////////
// optimizer interface, input and run
PBA_EXPORT virtual void SetCameraData(size_t ncam,
CameraT* cams); // set camera data
PBA_EXPORT virtual void SetPointData(size_t npoint,
Point3D* pts); // set 3D point data
PBA_EXPORT virtual void SetProjection(size_t nproj, const Point2D* imgpts,
const int* point_idx,
const int* cam_idx); // set projections
PBA_EXPORT virtual void SetNextBundleMode(
BundleModeT
mode = BUNDLE_FULL); // mode of the next bundle adjustment call
PBA_EXPORT virtual int RunBundleAdjustment(); // start bundle adjustment,
// return number of successful
// LM iterations
public:
//////////////////////////////////////////////////
// Query optimzer runing status for Multi-threading
// Three functions below can be called from a differnt thread while bundle is
// running
PBA_EXPORT virtual float
GetMeanSquaredError(); // read back results during/after BA
PBA_EXPORT virtual void
AbortBundleAdjustment(); // tell bundle adjustment to abort ASAP
PBA_EXPORT virtual int
GetCurrentIteration(); // which iteration is it working on?
public:
PBA_EXPORT ParallelBA(DeviceT device = PBA_CUDA_DEVICE_DEFAULT,
const int num_threads = -1);
PBA_EXPORT void* operator new(size_t size);
PBA_EXPORT virtual ~ParallelBA();
public:
//////////////////////////////////////////////
// Future functions will be added to the end for compatiability with old
// version.
PBA_EXPORT virtual void SetFocalMask(const int* fmask, float weight = 1.0f);
};
// function for dynamic loading of library
PBA_EXPORT_EXTERN ParallelBA* NewParallelBA(
ParallelBA::DeviceT device = ParallelBA::PBA_CUDA_DEVICE_DEFAULT);
typedef ParallelBA* (*NEWPARALLELBAPROC)(ParallelBA::DeviceT);
///////////////////////////////////////////////
// older versions do not have this function.
PBA_EXPORT_EXTERN int ParallelBA_GetVersion();
} // namespace pba
#endif
|