79 lines
3.1 KiB
C
79 lines
3.1 KiB
C
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// Ceres Solver - A fast non-linear least squares minimizer
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// Copyright 2010, 2011, 2012 Google Inc. All rights reserved.
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// http://code.google.com/p/ceres-solver/
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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: keir@google.com (Keir Mierle)
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// sameeragarwal@google.com (Sameer Agarwal)
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//
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// Some Ceres Snippets copied for testing
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#pragma once
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#include <gtsam_unstable/nonlinear/ceres_rotation.h>
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// Templated pinhole camera model for used with Ceres. The camera is
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// parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
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// focal length and 2 for radial distortion. The principal point is not modeled
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// (i.e. it is assumed be located at the image center).
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struct SnavelyProjection {
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template<typename T>
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bool operator()(const T* const camera, const T* const point,
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T* predicted) const {
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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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T xp = -p[0] / p[2];
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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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T r2 = xp * xp + yp * yp;
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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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predicted[0] = focal * distortion * xp;
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predicted[1] = focal * distortion * yp;
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return true;
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}
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};
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