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// Ceres Solver - A fast non-linear least squares minimizer
// Copyright 2020 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: darius.rueckert@fau.de (Darius Rueckert)
//
//
#ifndef CERES_INTERNAL_AUTODIFF_BENCHMARK_SNAVELY_REPROJECTION_ERROR_H_
#define CERES_INTERNAL_AUTODIFF_BENCHMARK_SNAVELY_REPROJECTION_ERROR_H_
#include "ceres/rotation.h"
namespace ceres {
struct SnavelyReprojectionError {
SnavelyReprojectionError(double observed_x, double observed_y)
: observed_x(observed_x), observed_y(observed_y) {}
template <typename T>
inline bool operator()(const T* const camera,
const T* const point,
T* residuals) const {
T ox = T(observed_x);
T oy = T(observed_y);
// 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 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 - ox;
residuals[1] = predicted_y - oy;
return true;
}
double observed_x;
double observed_y;
};
} // namespace ceres
#endif // CERES_INTERNAL_AUTODIFF_BENCHMARK_SNAVELY_REPROJECTION_ERROR_H_
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