#include <ceres_nonlinear.hpp>

Public Member Functions
	PerspectiveProjectionLandmarkCost (const morphablemodel::PcaModel &shape_model, const std::vector< morphablemodel::Blendshape > &blendshapes, int num_shape_coeffs, int num_blendshape_coeffs, Eigen::Vector2f observed_landmark, int vertex_id, int image_width, int image_height)

template<typename T >
bool	operator() (const T const camera_rotation, const T const camera_translation, const T const camera_intrinsics, const T const shape_coeffs, const T const blendshape_coeffs, T residual) const

Static Public Member Functions
template<int num_shape_coeffs, int num_blendshape_coeffs>
static ceres::CostFunction *	Create (const eos::morphablemodel::PcaModel &shape_model, const eos::morphablemodel::Blendshapes &blendshapes, Eigen::Vector2f observed_landmark, int vertex_id, int image_width, int image_height)

Detailed Description

2D landmark error cost function, using perspective projection (in OpenGL convention).

Computes the landmark reprojection error in 2D. Models the cost for one landmark. The residual is 2-dim, [x, y]. Its input params are camera parameters, shape coefficients and blendshape coefficients.

Constructor & Destructor Documentation

◆ PerspectiveProjectionLandmarkCost()

eos::fitting::PerspectiveProjectionLandmarkCost::PerspectiveProjectionLandmarkCost	(	const morphablemodel::PcaModel &	shape_model,
		const std::vector< morphablemodel::Blendshape > &	blendshapes,
		int	num_shape_coeffs,
		int	num_blendshape_coeffs,
		Eigen::Vector2f	observed_landmark,
		int	vertex_id,
		int	image_width,
		int	image_height
	)

inline

Constructs a new landmark cost function object with for a particular landmark/vertex id.

Warning: Don't put in temporaries for shape_model and blendshapes! We don't make a copy, we store a reference to what is given to the function!

Parameters

[in]	shape_model	A PCA 3D shape model. Do not use a temporary.
[in]	blendshapes	A set of 3D blendshapes. Do not use a temporary.
[in]	num_shape_coeffs	Number of shape coefficients that are being optimised for.
[in]	num_blendshape_coeffs	Number of blendshape coefficients that are being optimised for.
[in]	observed_landmark	An observed 2D landmark in an image.
[in]	vertex_id	The vertex id that the given observed landmark corresponds to.
[in]	image_width	Width of the image that the 2D landmark is from (needed for the model projection).
[in]	image_height	Height of the image.

Member Function Documentation

◆ Create()

template<int num_shape_coeffs, int num_blendshape_coeffs>

static ceres::CostFunction * eos::fitting::PerspectiveProjectionLandmarkCost::Create	(	const eos::morphablemodel::PcaModel &	shape_model,
		const eos::morphablemodel::Blendshapes &	blendshapes,
		Eigen::Vector2f	observed_landmark,
		int	vertex_id,
		int	image_width,
		int	image_height
	)

inlinestatic

Factory to hide the construction of the CostFunction object from the client code.

The number of parameters are given as template arguments, so that we can use Ceres' fixed-size constructor.

◆ operator()()

template<typename T >

bool eos::fitting::PerspectiveProjectionLandmarkCost::operator()	(	const T *const	camera_rotation,
		const T *const	camera_translation,
		const T *const	camera_intrinsics,
		const T *const	shape_coeffs,
		const T *const	blendshape_coeffs,
		T *	residual
	)		const

inline

Landmark cost function implementation.

Measures the landmark reprojection error of the model with the estimated parameters and the observed 2D landmarks. For one single landmark.