33 #include "ceres/ceres.h"
39 class EuclideanIntersectCostFunctor {
41 EuclideanIntersectCostFunctor(
const Marker& marker,
42 const EuclideanCamera&
camera)
47 typedef Eigen::Matrix<T, 3, 3>
Mat3;
48 typedef Eigen::Matrix<T, 3, 1>
Vec3;
55 projected /= projected(2);
77 Mat3 K = Mat3::Identity();
80 for (
int i = 0; i <
markers.size(); ++i) {
88 for (
int i = 0; i <
markers.size(); ++i) {
94 LG <<
"Intersecting with " <<
markers.size() <<
" markers.";
99 Vec3 X = Xp.head<3>();
101 ceres::Problem problem;
104 int num_residuals = 0;
105 for (
int i = 0; i <
markers.size(); ++i) {
107 if (marker.
weight != 0.0) {
111 problem.AddResidualBlock(
112 new ceres::AutoDiffCostFunction<EuclideanIntersectCostFunctor,
115 new EuclideanIntersectCostFunctor(marker,
camera)),
125 LG <<
"Number of residuals: " << num_residuals;
126 if (!num_residuals) {
127 LG <<
"Skipping running minimizer with zero residuals";
140 ceres::Solver::Options solver_options;
141 solver_options.linear_solver_type = ceres::DENSE_QR;
142 solver_options.max_num_iterations = 50;
143 solver_options.update_state_every_iteration =
true;
144 solver_options.parameter_tolerance = 1
e-16;
145 solver_options.function_tolerance = 1
e-16;
148 ceres::Solver::Summary summary;
149 ceres::Solve(solver_options, &problem, &summary);
151 VLOG(1) <<
"Summary:\n" << summary.FullReport();
154 for (
int i = 0; i < cameras.size(); ++i) {
159 LOG(ERROR) <<
"POINT BEHIND CAMERA " <<
markers[i].image <<
": "
174 struct ProjectiveIntersectCostFunction {
176 typedef Vec FMatrixType;
177 typedef Vec4 XMatrixType;
179 ProjectiveIntersectCostFunction(
187 for (
int i = 0; i <
markers.size(); ++i) {
188 const ProjectiveCamera&
camera =
191 projected /= projected(2);
192 residuals[2 * i + 0] = projected(0) -
markers[i].x;
193 residuals[2 * i + 1] = projected(1) -
markers[i].y;
211 for (
int i = 0; i <
markers.size(); ++i) {
213 cameras.push_back(
camera->P);
218 for (
int i = 0; i <
markers.size(); ++i) {
224 LG <<
"Intersecting with " <<
markers.size() <<
" markers.";
231 Solver::SolverParameters
params;
232 Solver solver(triangulate_cost);
234 Solver::Results results = solver.minimize(
params, &
X);
238 for (
int i = 0; i < cameras.size(); ++i) {
243 LOG(ERROR) <<
"POINT BEHIND CAMERA " <<
markers[i].image <<
": "
_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 GLdouble y2 _GL_VOID_RET _GL_VOID GLfloat GLfloat GLfloat y2 _GL_VOID_RET _GL_VOID GLint GLint GLint y2 _GL_VOID_RET _GL_VOID GLshort GLshort GLshort y2 _GL_VOID_RET _GL_VOID GLdouble GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLdouble GLdouble z _GL_VOID_RET _GL_VOID GLuint *buffer _GL_VOID_RET _GL_VOID GLdouble t _GL_VOID_RET _GL_VOID GLfloat t _GL_VOID_RET _GL_VOID GLint t _GL_VOID_RET _GL_VOID GLshort t _GL_VOID_RET _GL_VOID GLdouble t
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
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 or normal between camera
ATTR_WARN_UNUSED_RESULT const BMVert const BMEdge * e
void InsertPoint(int track, const Vec4 &X)
ProjectiveCamera * CameraForImage(int image)
Returns a pointer to the camera corresponding to image.
SyclQueue void void size_t num_bytes void
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
const vector< Marker > & markers
const EuclideanCamera & camera_
void NViewTriangulateAlgebraic(const Matrix< T, 2, Dynamic > &x, const vector< Matrix< T, 3, 4 >> &Ps, Matrix< T, 4, 1 > *X)
Eigen::Matrix< double, 3, 3 > Mat3
bool EuclideanIntersect(const vector< Marker > &markers, EuclideanReconstruction *reconstruction)
Eigen::Matrix< double, 3, 4 > Mat34
Eigen::Matrix< double, 2, Eigen::Dynamic > Mat2X
bool ProjectiveIntersect(const vector< Marker > &markers, ProjectiveReconstruction *reconstruction)
void P_From_KRt(const Mat3 &K, const Mat3 &R, const Vec3 &t, Mat34 *P)