mirror of
https://github.com/ceres-solver/ceres-solver.git
synced 2026-08-29 08:34:37 +08:00
Sergiu Deitsch
c14f360e63
Do not define trivial constructors or destructors unless necessary (e.g., for implementing pimpl) following the rule of zero. Define virtual base class destructors out-of-line to avoid emitting vtables in every translation unit. Change-Id: Iea2d8978e62a8ee5a97b86cbb4e858d56e0fb274
87 lines
3.4 KiB
C++
87 lines
3.4 KiB
C++
// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2020 Google Inc. All rights reserved.
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// http://ceres-solver.org/
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * Neither the name of Google Inc. nor the names of its contributors may be
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// used to endorse or promote products derived from this software without
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// specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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//
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// Author: darius.rueckert@fau.de (Darius Rueckert)
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//
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//
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#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARK_SNAVELY_REPROJECTION_ERROR_H_
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#define CERES_INTERNAL_AUTODIFF_BENCHMARK_SNAVELY_REPROJECTION_ERROR_H_
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#include "ceres/rotation.h"
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namespace ceres {
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struct SnavelyReprojectionError {
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SnavelyReprojectionError(double observed_x, double observed_y)
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: observed_x(observed_x), observed_y(observed_y) {}
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template <typename T>
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inline bool operator()(const T* const camera,
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const T* const point,
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T* residuals) const {
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T ox = T(observed_x);
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T oy = T(observed_y);
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// camera[0,1,2] are the angle-axis rotation.
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T p[3];
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ceres::AngleAxisRotatePoint(camera, point, p);
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// camera[3,4,5] are the translation.
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p[0] += camera[3];
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p[1] += camera[4];
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p[2] += camera[5];
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// Compute the center of distortion. The sign change comes from
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// the camera model that Noah Snavely's Bundler assumes, whereby
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// the camera coordinate system has a negative z axis.
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const T xp = -p[0] / p[2];
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const T yp = -p[1] / p[2];
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// Apply second and fourth order radial distortion.
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const T& l1 = camera[7];
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const T& l2 = camera[8];
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const T r2 = xp * xp + yp * yp;
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const T distortion = T(1.0) + r2 * (l1 + l2 * r2);
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// Compute final projected point position.
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const T& focal = camera[6];
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const T predicted_x = focal * distortion * xp;
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const T predicted_y = focal * distortion * yp;
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// The error is the difference between the predicted and observed position.
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residuals[0] = predicted_x - ox;
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residuals[1] = predicted_y - oy;
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return true;
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}
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double observed_x;
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double observed_y;
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};
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} // namespace ceres
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#endif // CERES_INTERNAL_AUTODIFF_BENCHMARK_SNAVELY_REPROJECTION_ERROR_H_
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