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+// Ceres Solver - A fast non-linear least squares minimizer
+// Copyright 2015 Google Inc. All rights reserved.
+// http://ceres-solver.org/
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+// * Redistributions of source code must retain the above copyright notice,
+// this list of conditions and the following disclaimer.
+// * Redistributions in binary form must reproduce the above copyright notice,
+// this list of conditions and the following disclaimer in the documentation
+// and/or other materials provided with the distribution.
+// * Neither the name of Google Inc. nor the names of its contributors may be
+// used to endorse or promote products derived from this software without
+// specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// 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 = 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 - observed_x;
+ residuals[1] = predicted_y - 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 = 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 - observed_x;
+ residuals[1] = predicted_y - 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_