bsfm::BundleAdjustmentError Struct Reference

#include <cost_functors.h>

Public Member Functions
	BundleAdjustmentError (const Feature &x, const Matrix3d &K)
template<typename T >
bool	operator() (const T *const rotation, const T *const translation, const T *const point, T *bundle_adjustment_error) const

Static Public Member Functions
static ceres::CostFunction *	Create (const Feature &x, const Matrix3d &K)

Public Attributes
Feature	x_
Matrix3d	K_

Detailed Description

Definition at line 118 of file cost_functors.h.

Constructor & Destructor Documentation

bsfm::BundleAdjustmentError::BundleAdjustmentError ( const Feature &  x, const Matrix3d &  K  )

inline

Definition at line 126 of file cost_functors.h.

: x_(x), K_(K) {}

Member Function Documentation

static ceres::CostFunction* bsfm::BundleAdjustmentError::Create ( const Feature &  x, const Matrix3d &  K  )

inlinestatic

Definition at line 164 of file cost_functors.h.

                                                                        {
    // 2 residuals: image space u and v coordinates.
    static const int kNumResiduals = 2;

    // 3 parameters, axis-angle representation.
    static const int kNumRotationParameters = 3;

    // 3 parameters for camera translation.
    static const int kNumTranslationParameters = 3;

    // 3 landmark position parameters: world space x, y, z.
    static const int kNumLandmarkParameters = 3;

    return new ceres::AutoDiffCostFunction<BundleAdjustmentError,
           kNumResiduals,
           kNumRotationParameters,
           kNumTranslationParameters,
           kNumLandmarkParameters>(new BundleAdjustmentError(x, K));
  }

template<typename T >

bool bsfm::BundleAdjustmentError::operator() ( const T *const  rotation, const T *const  translation, const T *const  point, T *  bundle_adjustment_error  ) const

inline

Definition at line 129 of file cost_functors.h.

                                                                          {
    // Normally one would compute x = K * [R | t] X. Instead we have an
    // axis-angle version of R, and the camera position c. To put the
    // point X in camera frame, we need to compute R*X+t. Note that t = -R'*c,
    // so R*X+t = R*(X+R'*t) = R*(X-c). Hence we can first subtract out the given
    // camera position, and then perform the axis-angle rotation.

    // Remove camera translation.
    T origin_point[3];
    origin_point[0] = point[0] - translation[0];
    origin_point[1] = point[1] - translation[1];
    origin_point[2] = point[2] - translation[2];

    // Rotate point to camera frame.
    T cam_point[3];
    ceres::AngleAxisRotatePoint(rotation, origin_point, cam_point);

    // Get normalized pixel projection.
    const T& depth = cam_point[2];
    const T normalized_point[2] = {cam_point[0] / depth, cam_point[1] / depth};

    // Project normalized point into image using intrinsic parameters.
    const T u = K_(0, 0) * normalized_point[0] +
                K_(0, 1) * normalized_point[1] + K_(0, 2);
    const T v = K_(1, 1) * normalized_point[1] + K_(1, 2);

    // Error is computed in image space.
    bundle_adjustment_error[0] = x_.u_ - u;
    bundle_adjustment_error[1] = x_.v_ - v;

    return true;
  }

Member Data Documentation

Matrix3d bsfm::BundleAdjustmentError::K_

Definition at line 125 of file cost_functors.h.

Feature bsfm::BundleAdjustmentError::x_

Definition at line 124 of file cost_functors.h.

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The documentation for this struct was generated from the following file:

• /Users/eanelson/Git/berkeley_sfm/src/cpp/optimization/cost_functors.h