Cal3_S2Stereo.h

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/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
 
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/geometry/Cal3_S2.h>
#include <iosfwd>
 
namespace gtsam {

class GTSAM_EXPORT Cal3_S2Stereo : public Cal3_S2 {
 private:
  double b_ = 1.0f;  
 
 public:
  constexpr static auto dimension = 6;

  using shared_ptr = std::shared_ptr<Cal3_S2Stereo>;


  Cal3_S2Stereo() = default;

  Cal3_S2Stereo(double fx, double fy, double s, double u0, double v0, double b)
      : Cal3_S2(fx, fy, s, u0, v0), b_(b) {}

  Cal3_S2Stereo(const Vector6& d)
      : Cal3_S2(d(0), d(1), d(2), d(3), d(4)), b_(d(5)) {}

  Cal3_S2Stereo(double fov, int w, int h, double b)
      : Cal3_S2(fov, w, h), b_(b) {}


  Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 6> Dcal = {},
                     OptionalJacobian<2, 2> Dp = {}) const;

  Point2 calibrate(const Point2& p, OptionalJacobian<2, 6> Dcal = {},
                   OptionalJacobian<2, 2> Dp = {}) const;

  Vector3 calibrate(const Vector3& p) const { return Cal3_S2::calibrate(p); }


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3_S2Stereo& cal);

  void print(const std::string& s = "") const override;

  bool equals(const Cal3_S2Stereo& other, double tol = 10e-9) const;


  const Cal3_S2& calibration() const { return *this; }

  Matrix3 K() const override { return Cal3_S2::K(); }

  double baseline() const { return b_; }

  Vector6 vector() const {
    Vector6 v;
    v << Cal3_S2::vector(), b_;
    return v;
  }


  size_t dim() const override { return Dim(); }

  static size_t Dim() { return dimension; }

  Cal3_S2Stereo retract(const Vector& d) const {
    return Cal3_S2Stereo(fx() + d(0), fy() + d(1), skew() + d(2), px() + d(3),
                         py() + d(4), b_ + d(5));
  }

  Vector6 localCoordinates(const Cal3_S2Stereo& T2) const {
    return T2.vector() - vector();
  }

 
 private:
#if GTSAM_ENABLE_BOOST_SERIALIZATION
  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp(
        "Cal3_S2", boost::serialization::base_object<Cal3_S2>(*this));
    ar& BOOST_SERIALIZATION_NVP(b_);
  }
#endif
};
 
// Define GTSAM traits
template <>
struct traits<Cal3_S2Stereo> : public internal::Manifold<Cal3_S2Stereo> {};
 
template <>
struct traits<const Cal3_S2Stereo> : public internal::Manifold<Cal3_S2Stereo> {
};
 
}  // \ namespace gtsam