example.h
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29 // Author: keir@google.com (Keir Mierle)
30 // sameeragarwal@google.com (Sameer Agarwal)
31 //
32 // Some Ceres Snippets copied for testing
33 
34 #pragma once
35 
37 
38 // Templated pinhole camera model for used with Ceres. The camera is
39 // parameterized using 9 parameters: 3 for rotation, 3 for translation, 1 for
40 // focal length and 2 for radial distortion. The principal point is not modeled
41 // (i.e. it is assumed be located at the image center).
43 
44  template<typename T>
45  bool operator()(const T* const camera, const T* const point,
46  T* predicted) const {
47  // camera[0,1,2] are the angle-axis rotation.
48  T p[3];
49  ceres::AngleAxisRotatePoint(camera, point, p);
50 
51  // camera[3,4,5] are the translation.
52  p[0] += camera[3];
53  p[1] += camera[4];
54  p[2] += camera[5];
55 
56  // Compute the center of distortion. The sign change comes from
57  // the camera model that Noah Snavely's Bundler assumes, whereby
58  // the camera coordinate system has a negative z axis.
59  T xp = -p[0] / p[2];
60  T yp = -p[1] / p[2];
61 
62  // Apply second and fourth order radial distortion.
63  const T& l1 = camera[7];
64  const T& l2 = camera[8];
65  T r2 = xp * xp + yp * yp;
66  T distortion = T(1.0) + r2 * (l1 + l2 * r2);
67 
68  // Compute final projected point position.
69  const T& focal = camera[6];
70  predicted[0] = focal * distortion * xp;
71  predicted[1] = focal * distortion * yp;
72 
73  return true;
74  }
75 
76 };
77 
78 
gtsam::Key l2
bool operator()(const T *const camera, const T *const point, T *predicted) const
Definition: example.h:45
void AngleAxisRotatePoint(const T angle_axis[3], const T pt[3], T result[3])
Definition: rotation.h:584
Eigen::Triplet< double > T
static const double r2
gtsam::Key l1
float * p
static const CalibratedCamera camera(kDefaultPose)


gtsam
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autogenerated on Tue Jul 4 2023 02:34:13