diff options
| author | Sascha Haeberling <haeberling@google.com> | 2013-07-23 19:00:21 -0700 |
|---|---|---|
| committer | Sascha Haeberling <haeberling@google.com> | 2013-07-24 12:00:09 -0700 |
| commit | 1d2624a10e2c559f8ba9ef89eaa30832c0a83a96 (patch) | |
| tree | f43667ef858dd0f377b15a58a9d5c9a126762c55 /examples/simple_bundle_adjuster.cc | |
| parent | 0ae28bd5885b5daa526898fcf7c323dc2c3e1963 (diff) | |
| download | ceres-solver-1d2624a10e2c559f8ba9ef89eaa30832c0a83a96.tar.gz | |
Update ceres to the latest version in google3.
Change-Id: I0165fffa55f60714f23e0096eac89fa68df75a05
Diffstat (limited to 'examples/simple_bundle_adjuster.cc')
| -rw-r--r-- | examples/simple_bundle_adjuster.cc | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/examples/simple_bundle_adjuster.cc b/examples/simple_bundle_adjuster.cc index cc6f04a..736d4a2 100644 --- a/examples/simple_bundle_adjuster.cc +++ b/examples/simple_bundle_adjuster.cc @@ -160,6 +160,14 @@ struct SnavelyReprojectionError { return true; } + // Factory to hide the construction of the CostFunction object from + // the client code. + static ceres::CostFunction* Create(const double observed_x, + const double observed_y) { + return (new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>( + new SnavelyReprojectionError(observed_x, observed_y))); + } + double observed_x; double observed_y; }; @@ -177,6 +185,8 @@ int main(int argc, char** argv) { return 1; } + const double* observations = bal_problem.observations(); + // Create residuals for each observation in the bundle adjustment problem. The // parameters for cameras and points are added automatically. ceres::Problem problem; @@ -184,12 +194,10 @@ int main(int argc, char** argv) { // Each Residual block takes a point and a camera as input and outputs a 2 // dimensional residual. Internally, the cost function stores the observed // image location and compares the reprojection against the observation. - ceres::CostFunction* cost_function = - new ceres::AutoDiffCostFunction<SnavelyReprojectionError, 2, 9, 3>( - new SnavelyReprojectionError( - bal_problem.observations()[2 * i + 0], - bal_problem.observations()[2 * i + 1])); + ceres::CostFunction* cost_function = + SnavelyReprojectionError::Create(observations[2 * i + 0], + observations[2 * i + 1]); problem.AddResidualBlock(cost_function, NULL /* squared loss */, bal_problem.mutable_camera_for_observation(i), |