// Ceres Solver - A fast non-linear least squares minimizer
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// http://code.google.com/p/ceres-solver/
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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];
ceres::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& focal = camera[6];
T xp = - p[0] / p[2];
T yp = - p[1] / p[2];
// Apply second and fourth order radial distortion.
const T& l1 = camera[7];
const T& l2 = camera[8];
T r2 = xp*xp + yp*yp;
T distortion = T(1.0) + r2 * (l1 + l2 * r2);
// Compute final projected point position.
T predicted_x = focal * distortion * xp;
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;
}
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_rotation,
const T* const camera_translation_and_intrinsics,
const T* const point,
T* residuals) const {
const T& focal = camera_translation_and_intrinsics[3];
const T& l1 = camera_translation_and_intrinsics[4];
const T& l2 = camera_translation_and_intrinsics[5];
// Use a quaternion rotation that doesn't assume the quaternion is
// normalized, since one of the ways to run the bundler is to let Ceres
// optimize all 4 quaternion parameters unconstrained.
T p[3];
QuaternionRotatePoint(camera_rotation, point, p);
p[0] += camera_translation_and_intrinsics[0];
p[1] += camera_translation_and_intrinsics[1];
p[2] += camera_translation_and_intrinsics[2];
// 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.
T xp = - p[0] / p[2];
T yp = - p[1] / p[2];
// Apply second and fourth order radial distortion.
T r2 = xp*xp + yp*yp;
T distortion = T(1.0) + r2 * (l1 + l2 * r2);
// Compute final projected point position.
T predicted_x = focal * distortion * xp;
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;
}
double observed_x;
double observed_y;
};
} // namespace examples
} // namespace ceres
#endif // CERES_EXAMPLES_SNAVELY_REPROJECTION_ERROR_H_