bsfm::GeometricError Struct Reference

#include <cost_functors.h>

Public Member Functions
	GeometricError (const Feature &x, const Point3D &X)
template<typename T >
bool	operator() (const T *const P, T *geometric_error) const

Static Public Member Functions
static ceres::CostFunction *	Create (const Feature &x, const Point3D &X)

Public Attributes
Feature	x_
Point3D	X_

Detailed Description

Definition at line 71 of file cost_functors.h.

Constructor & Destructor Documentation

bsfm::GeometricError::GeometricError ( const Feature &  x, const Point3D &  X  )

inline

Definition at line 77 of file cost_functors.h.

: x_(x), X_(X) {}

Member Function Documentation

static ceres::CostFunction* bsfm::GeometricError::Create ( const Feature &  x, const Point3D &  X  )

inlinestatic

Definition at line 96 of file cost_functors.h.

                                                                       {
    static const int kNumResiduals = 2;
    static const int kNumCameraParameters = 12;
    return new ceres::AutoDiffCostFunction<GeometricError,
           kNumResiduals,
           kNumCameraParameters>(new GeometricError(x, X));
  }

template<typename T >

bool bsfm::GeometricError::operator() ( const T *const  P, T *  geometric_error  ) const

inline

Definition at line 82 of file cost_functors.h.

                                                              {

    // Matrix multiplication: x - PX. Assume homogeneous coordinates are 1.0.
    // Matrix P is stored in column-major order.
    T scale = P[2] * X_.X() + P[5] * X_.Y() + P[8] * X_.Z() + P[11];
    geometric_error[0] =
       x_.u_ - (P[0] * X_.X() + P[3] * X_.Y() + P[6] * X_.Z() + P[9]) / scale;
    geometric_error[1] =
       x_.v_ - (P[1] * X_.X() + P[4] * X_.Y() + P[7] * X_.Z() + P[10]) / scale;

    return true;
  }

Member Data Documentation

Feature bsfm::GeometricError::x_

Definition at line 75 of file cost_functors.h.

Point3D bsfm::GeometricError::X_

Definition at line 76 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