#include <ceres_nonlinear.hpp>

Public Member Functions
	VertexColorCost (const eos::morphablemodel::PcaModel &shape_model, const eos::morphablemodel::Blendshapes &blendshapes, const eos::morphablemodel::PcaModel &color_model, int num_shape_coeffs, int num_blendshape_coeffs, int num_color_coeffs, int vertex_id, const eos::core::Image3u &image)

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, const T const color_coeffs, T *residual) const

Static Public Member Functions
template<int num_shape_coeffs, int num_blendshape_coeffs, int num_color_coeffs>
static ceres::CostFunction *	Create (const eos::morphablemodel::PcaModel &shape_model, const eos::morphablemodel::Blendshapes &blendshapes, const eos::morphablemodel::PcaModel &color_model, int vertex_id, const eos::core::Image3u &image)

Detailed Description

Image error cost function (at vertex locations).

Measures the RGB image error between a particular vertex point of the 3D model at its projected location and the observed input image. Models the cost for 1 vertex. The residual is 3-dim, [r, g, b]. Its input params are cam, shape-coeffs, BS-coeffs and colour coeffs. This projects the vertex locations - so not a full rendering pass.

Constructor & Destructor Documentation

◆ VertexColorCost()

eos::fitting::VertexColorCost::VertexColorCost	(	const eos::morphablemodel::PcaModel &	shape_model,
		const eos::morphablemodel::Blendshapes &	blendshapes,
		const eos::morphablemodel::PcaModel &	color_model,
		int	num_shape_coeffs,
		int	num_blendshape_coeffs,
		int	num_color_coeffs,
		int	vertex_id,
		const eos::core::Image3u &	image
	)

inline

Constructs a new cost function object for a particular vertex id that measures the RGB image error between the estimated model point and the observed input image.

Warning: Don't put in temporaries for shape_model, blendshapes and color_model. 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]	color_model	A PCA 3D color model. 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]	num_color_coeffs	Number of colour coefficients that are being optimised for.
[in]	vertex_id	Vertex id of the 3D model that should be projected and measured.
[in]	image	The observed image.

Member Function Documentation

◆ Create()

template<int num_shape_coeffs, int num_blendshape_coeffs, int num_color_coeffs>

static ceres::CostFunction * eos::fitting::VertexColorCost::Create	(	const eos::morphablemodel::PcaModel &	shape_model,
		const eos::morphablemodel::Blendshapes &	blendshapes,
		const eos::morphablemodel::PcaModel &	color_model,
		int	vertex_id,
		const eos::core::Image3u &	image
	)

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::VertexColorCost::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,
		const T *const	color_coeffs,
		T *	residual
	)		const

inline

Image cost function implementation.

Measures the image pixel error between the given model vertex projected to 2D and the observed input image.

Todo: We should deal with visibility! Don't evaluate when the vertex is self-occluded.