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/************************************************************************
*
* Copyright (C) 2017-2023 IRCAD France
* Copyright (C) 2017-2018 IHU Strasbourg
*
* This file is part of Sight.
*
* Sight is free software: you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Sight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with Sight. If not, see <https://www.gnu.org/licenses/>.
*
***********************************************************************/
#include "reprojection_error.hpp"
namespace sight::geometry::vision::detail
{
//-----------------------------------------------------------------------------
reprojection_error::reprojection_error(
cv::Mat _camera_mat,
cv::Mat _dist_coef,
cv::Point2f _image_points,
cv::Point3f _object_points,
cv::Mat _extrinsic
) :
m_image_point(std::move(_image_points)),
m_object_point(std::move(_object_points)),
m_extrinsic(std::move(_extrinsic)),
m_camera_matrix(std::move(_camera_mat)),
m_dist_coef(std::move(_dist_coef))
{
}
//-----------------------------------------------------------------------------
::ceres::CostFunction* reprojection_error::create(
const cv::Mat& _camera_matrix,
const cv::Mat& _dist_coef,
const cv::Point2f& _image_points,
const cv::Point3f& _object_points,
const cv::Mat& _extrinsic
)
{
auto* rep = new reprojection_error(_camera_matrix, _dist_coef, _image_points, _object_points, _extrinsic);
return new ::ceres::NumericDiffCostFunction<reprojection_error, ::ceres::FORWARD, 2, 6>(rep);
}
//-----------------------------------------------------------------------------
} // namespace sight::geometry::vision::detail
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