25 #include "ceres/ceres.h"
26 #include "ceres/rotation.h"
31 # define snprintf _snprintf
37 void ProjectMarkerOnSphere(
const Marker& marker,
Vec3& X) {
45 void ModalSolverLogProgress(ProgressUpdateCallback* update_callback,
47 if (update_callback) {
52 "Solving progress %d%%",
53 (
int)(progress * 100));
55 update_callback->invoke(progress, message);
59 struct ModalReprojectionError {
60 ModalReprojectionError(
double observed_x,
71 bool operator()(
const T* quaternion,
T* residuals)
const {
79 T quaternion_inverse[4] = {
85 ceres::QuaternionRotatePoint(quaternion_inverse, X,
x);
109 int max_image =
tracks.MaxImage();
110 int max_track =
tracks.MaxTrack();
112 LG <<
"Max image: " << max_image;
113 LG <<
"Max track: " << max_track;
116 Vec3 zero_rotation = Vec3::Zero();
118 ceres::AngleAxisToQuaternion(&zero_rotation(0), &quaternion(0));
123 ModalSolverLogProgress(update_callback, (
float)
image / max_image);
126 if (all_markers.size() == 0) {
127 LG <<
"Skipping image: " <<
image;
133 ceres::QuaternionToRotation(&quaternion(0), ¤t_R(0, 0));
139 for (
int i = 0; i < all_markers.size(); ++i) {
140 Marker& marker = all_markers[i];
144 ProjectMarkerOnSphere(marker,
X);
146 int last_column = x1.cols();
147 x1.conservativeResize(3, last_column + 1);
148 x2.conservativeResize(3, last_column + 1);
150 x1.col(last_column) = current_R *
point->X;
151 x2.col(last_column) =
X;
155 if (x1.cols() >= 2) {
165 Vec3 delta_angle_axis;
166 ceres::RotationMatrixToAngleAxis(&delta_R(0, 0), &delta_angle_axis(0));
168 Vec3 current_angle_axis;
169 ceres::QuaternionToAngleAxis(&quaternion(0), ¤t_angle_axis(0));
171 Vec3 angle_axis = current_angle_axis + delta_angle_axis;
173 ceres::AngleAxisToQuaternion(&angle_axis(0), &quaternion(0));
175 LG <<
"Analytically computed quaternion " << quaternion.transpose();
179 ceres::Problem problem;
183 ceres::Manifold* quaternion_manifold =
NULL;
185 int num_residuals = 0;
186 for (
int i = 0; i < all_markers.size(); ++i) {
187 Marker& marker = all_markers[i];
191 problem.AddResidualBlock(
192 new ceres::AutoDiffCostFunction<ModalReprojectionError,
194 4>(
new ModalReprojectionError(
200 if (quaternion_manifold ==
NULL) {
201 quaternion_manifold =
new ceres::QuaternionManifold();
204 problem.SetManifold(&quaternion(0), quaternion_manifold);
208 LG <<
"Number of residuals: " << num_residuals;
212 ceres::Solver::Options solver_options;
213 solver_options.linear_solver_type = ceres::DENSE_QR;
214 solver_options.max_num_iterations = 50;
215 solver_options.update_state_every_iteration =
true;
216 solver_options.gradient_tolerance = 1
e-36;
217 solver_options.parameter_tolerance = 1
e-36;
218 solver_options.function_tolerance = 1
e-36;
221 ceres::Solver::Summary summary;
222 ceres::Solve(solver_options, &problem, &summary);
224 LG <<
"Summary:\n" << summary.FullReport();
225 LG <<
"Refined quaternion " << quaternion.transpose();
230 ceres::QuaternionToRotation(&quaternion(0), &
R(0, 0));
237 for (
int track = 0; track <= max_track; ++track) {
245 LG <<
"Projecting track " << track <<
" at image " <<
image;
248 ProjectMarkerOnSphere(marker,
X);
_GL_VOID GLfloat value _GL_VOID_RET _GL_VOID const GLuint GLboolean *residences _GL_BOOL_RET _GL_VOID GLsizei GLfloat GLfloat GLfloat GLfloat const GLubyte *bitmap _GL_VOID_RET _GL_VOID GLenum const void *lists _GL_VOID_RET _GL_VOID const GLdouble *equation _GL_VOID_RET _GL_VOID GLdouble GLdouble blue _GL_VOID_RET _GL_VOID GLfloat GLfloat blue _GL_VOID_RET _GL_VOID GLint GLint blue _GL_VOID_RET _GL_VOID GLshort GLshort blue _GL_VOID_RET _GL_VOID GLubyte GLubyte blue _GL_VOID_RET _GL_VOID GLuint GLuint blue _GL_VOID_RET _GL_VOID GLushort GLushort blue _GL_VOID_RET _GL_VOID GLbyte GLbyte GLbyte alpha _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble alpha _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat alpha _GL_VOID_RET _GL_VOID GLint GLint GLint alpha _GL_VOID_RET _GL_VOID GLshort GLshort GLshort alpha _GL_VOID_RET _GL_VOID GLubyte GLubyte GLubyte alpha _GL_VOID_RET _GL_VOID GLuint GLuint GLuint alpha _GL_VOID_RET _GL_VOID GLushort GLushort GLushort alpha _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLint GLsizei GLsizei GLenum type _GL_VOID_RET _GL_VOID GLsizei GLenum GLenum const void *pixels _GL_VOID_RET _GL_VOID const void *pointer _GL_VOID_RET _GL_VOID GLdouble v _GL_VOID_RET _GL_VOID GLfloat v _GL_VOID_RET _GL_VOID GLint GLint i2 _GL_VOID_RET _GL_VOID GLint j _GL_VOID_RET _GL_VOID GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble GLdouble GLdouble zFar _GL_VOID_RET _GL_UINT GLdouble *equation _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLenum GLfloat *v _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLfloat *values _GL_VOID_RET _GL_VOID GLushort *values _GL_VOID_RET _GL_VOID GLenum GLfloat *params _GL_VOID_RET _GL_VOID GLenum GLdouble *params _GL_VOID_RET _GL_VOID GLenum GLint *params _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_BOOL GLfloat param _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLushort pattern _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLint GLdouble GLdouble GLint GLint const GLdouble *points _GL_VOID_RET _GL_VOID GLdouble GLdouble u2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLint GLdouble GLdouble v2 _GL_VOID_RET _GL_VOID GLenum GLfloat param _GL_VOID_RET _GL_VOID GLenum GLint param _GL_VOID_RET _GL_VOID GLenum mode _GL_VOID_RET _GL_VOID GLdouble GLdouble nz _GL_VOID_RET _GL_VOID GLfloat GLfloat nz _GL_VOID_RET _GL_VOID GLint GLint nz _GL_VOID_RET _GL_VOID GLshort GLshort nz _GL_VOID_RET _GL_VOID GLsizei const void *pointer _GL_VOID_RET _GL_VOID GLsizei const GLfloat *values _GL_VOID_RET _GL_VOID GLsizei const GLushort *values _GL_VOID_RET _GL_VOID GLint param _GL_VOID_RET _GL_VOID const GLuint const GLclampf *priorities _GL_VOID_RET _GL_VOID GLdouble y _GL_VOID_RET _GL_VOID GLfloat y _GL_VOID_RET _GL_VOID GLint y _GL_VOID_RET _GL_VOID GLshort y _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLfloat GLfloat z _GL_VOID_RET _GL_VOID GLint GLint z _GL_VOID_RET _GL_VOID GLshort GLshort z _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble w _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat w _GL_VOID_RET _GL_VOID GLint GLint GLint w _GL_VOID_RET _GL_VOID GLshort GLshort GLshort w _GL_VOID_RET _GL_VOID GLdouble GLdouble x2
in reality light always falls off quadratically Particle Retrieve the data of the particle that spawned the object for example to give variation to multiple instances of an object Point Retrieve information about points in a point cloud Retrieve the edges of an object as it appears to Cycles topology will always appear triangulated Convert a blackbody temperature to an RGB value Normal Generate a perturbed normal from an RGB normal map image Typically used for faking highly detailed surfaces Generate an OSL shader from a file or text data block Image Sample an image file as a texture Sky Generate a procedural sky texture Noise Generate fractal Perlin noise Wave Generate procedural bands or rings with noise Voronoi Generate Worley noise based on the distance to random points Typically used to generate textures such as or biological cells Brick Generate a procedural texture producing bricks Texture Retrieve multiple types of texture coordinates nTypically used as inputs for texture nodes Vector Convert a point
ATTR_WARN_UNUSED_RESULT const BMVert const BMEdge * e
void InsertPoint(int track, const Vec4 &X)
ProjectivePoint * PointForTrack(int track)
Returns a pointer to the point corresponding to track.
void InsertCamera(int image, const Mat34 &P)
depth_tx normal_tx diffuse_light_tx specular_light_tx volume_light_tx environment_tx ambient_occlusion_tx aov_value_tx in_weight_img image(1, GPU_R32F, Qualifier::WRITE, ImageType::FLOAT_2D_ARRAY, "out_weight_img") .image(3
const ProjectiveReconstruction & reconstruction
void ModalSolver(const Tracks &tracks, EuclideanReconstruction *reconstruction, ProgressUpdateCallback *update_callback)
Eigen::Matrix< double, 3, 3 > Mat3
void GetR_FixedCameraCenter(const Mat &x1, const Mat &x2, const double focal, Mat3 *R)