| // Ceres Solver - A fast non-linear least squares minimizer |
| // Copyright 2015 Google Inc. All rights reserved. |
| // http://ceres-solver.org/ |
| // |
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| // modification, are permitted provided that the following conditions are met: |
| // |
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| // |
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| // |
| // Author: sameeragarwal@google.com (Sameer Agarwal) |
| // |
| // Templated struct implementing the camera model and residual |
| // computation for bundle adjustment used by Noah Snavely's Bundler |
| // SfM system. This is also the camera model/residual for the bundle |
| // adjustment problems in the BAL dataset. It is templated so that we |
| // can use Ceres's automatic differentiation to compute analytic |
| // jacobians. |
| // |
| // For details see: http://phototour.cs.washington.edu/bundler/ |
| // and http://grail.cs.washington.edu/projects/bal/ |
| |
| #ifndef CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_ |
| #define CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_ |
| |
| #include "ceres/rotation.h" |
| |
| namespace ceres { |
| namespace examples { |
| |
| // Templated pinhole camera model for used with Ceres. The camera is |
| // parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for |
| // focal length and 2 for radial distortion. The principal point is not modeled |
| // (i.e. it is assumed be located at the image center). |
| struct SnavelyReprojectionError { |
| SnavelyReprojectionError(double observed_x, double observed_y) |
| : observed_x(observed_x), observed_y(observed_y) {} |
| |
| template <typename T> |
| bool operator()(const T* const camera, |
| const T* const point, |
| T* residuals) const { |
| // camera[0,1,2] are the angle-axis rotation. |
| T p[3]; |
| AngleAxisRotatePoint(camera, point, p); |
| |
| // camera[3,4,5] are the translation. |
| p[0] += camera[3]; |
| p[1] += camera[4]; |
| p[2] += camera[5]; |
| |
| // Compute the center of distortion. The sign change comes from |
| // the camera model that Noah Snavely's Bundler assumes, whereby |
| // the camera coordinate system has a negative z axis. |
| const T xp = - p[0] / p[2]; |
| const T yp = - p[1] / p[2]; |
| |
| // Apply second and fourth order radial distortion. |
| const T& l1 = camera[7]; |
| const T& l2 = camera[8]; |
| const T r2 = xp*xp + yp*yp; |
| const T distortion = T(1.0) + r2 * (l1 + l2 * r2); |
| |
| |
| // Compute final projected point position. |
| const T& focal = camera[6]; |
| const T predicted_x = focal * distortion * xp; |
| const T predicted_y = focal * distortion * yp; |
| |
| // The error is the difference between the predicted and observed position. |
| residuals[0] = predicted_x - T(observed_x); |
| residuals[1] = predicted_y - T(observed_y); |
| |
| return true; |
| } |
| |
| // Factory to hide the construction of the CostFunction object from |
| // the client code. |
| static ceres::CostFunction* Create(const double observed_x, |
| const double observed_y) { |
| return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>( |
| new SnavelyReprojectionError(observed_x, observed_y))); |
| } |
| |
| double observed_x; |
| double observed_y; |
| }; |
| |
| // Templated pinhole camera model for used with Ceres. The camera is |
| // parameterized using 10 parameters. 4 for rotation, 3 for |
| // translation, 1 for focal length and 2 for radial distortion. The |
| // principal point is not modeled (i.e. it is assumed be located at |
| // the image center). |
| struct SnavelyReprojectionErrorWithQuaternions { |
| // (u, v): the position of the observation with respect to the image |
| // center point. |
| SnavelyReprojectionErrorWithQuaternions(double observed_x, double observed_y) |
| : observed_x(observed_x), observed_y(observed_y) {} |
| |
| template <typename T> |
| bool operator()(const T* const camera, |
| const T* const point, |
| T* residuals) const { |
| // camera[0,1,2,3] is are the rotation of the camera as a quaternion. |
| // |
| // We use QuaternionRotatePoint as it does not assume that the |
| // quaternion is normalized, since one of the ways to run the |
| // bundle adjuster is to let Ceres optimize all 4 quaternion |
| // parameters without a local parameterization. |
| T p[3]; |
| QuaternionRotatePoint(camera, point, p); |
| |
| p[0] += camera[4]; |
| p[1] += camera[5]; |
| p[2] += camera[6]; |
| |
| // Compute the center of distortion. The sign change comes from |
| // the camera model that Noah Snavely's Bundler assumes, whereby |
| // the camera coordinate system has a negative z axis. |
| const T xp = - p[0] / p[2]; |
| const T yp = - p[1] / p[2]; |
| |
| // Apply second and fourth order radial distortion. |
| const T& l1 = camera[8]; |
| const T& l2 = camera[9]; |
| |
| const T r2 = xp*xp + yp*yp; |
| const T distortion = T(1.0) + r2 * (l1 + l2 * r2); |
| |
| // Compute final projected point position. |
| const T& focal = camera[7]; |
| const T predicted_x = focal * distortion * xp; |
| const T predicted_y = focal * distortion * yp; |
| |
| // The error is the difference between the predicted and observed position. |
| residuals[0] = predicted_x - T(observed_x); |
| residuals[1] = predicted_y - T(observed_y); |
| |
| return true; |
| } |
| |
| // Factory to hide the construction of the CostFunction object from |
| // the client code. |
| static ceres::CostFunction* Create(const double observed_x, |
| const double observed_y) { |
| return (new ceres::AutoDiffCostFunction< |
| SnavelyReprojectionErrorWithQuaternions, 2, 10, 3>( |
| new SnavelyReprojectionErrorWithQuaternions(observed_x, |
| observed_y))); |
| } |
| |
| double observed_x; |
| double observed_y; |
| }; |
| |
| } // namespace examples |
| } // namespace ceres |
| |
| #endif // CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_ |