Cal3f.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
 
 * -------------------------------------------------------------------------- */
/* ----------------------------------------------------------------------------
 
 * GTSAM Copyright 2010
 * See LICENSE for the license information
 
 * -------------------------------------------------------------------------- */

 
#pragma once
 
#include <gtsam/geometry/Cal3.h>
 
namespace gtsam {

class GTSAM_EXPORT Cal3f : public Cal3 {
 public:
  constexpr static auto dimension = 1;
  using shared_ptr = std::shared_ptr<Cal3f>;


  Cal3f() = default;

  Cal3f(double f, double u0, double v0);
 
  ~Cal3f() override = default;


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os, const Cal3f& cal);

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

  bool equals(const Cal3f& K, double tol = 1e-9) const;


  double f() const { return fx_; }

  Vector1 vector() const;

  Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 1> Dcal = {},
                     OptionalJacobian<2, 2> Dp = {}) const;

  Point2 calibrate(const Point2& pi, OptionalJacobian<2, 1> Dcal = {},
                   OptionalJacobian<2, 2> Dp = {}) const;


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

  static size_t Dim() { return dimension; }

  Cal3f retract(const Vector& d) const { return Cal3f(fx_ + d(0), u0_, v0_); }

  Vector1 localCoordinates(const Cal3f& T2) const {
    return Vector1(T2.fx_ - fx_);
  }

 
 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_NVP(fx_);
    ar& BOOST_SERIALIZATION_NVP(u0_);
    ar& BOOST_SERIALIZATION_NVP(v0_);
  }
#endif

};
 
template <>
struct traits<Cal3f> : public internal::Manifold<Cal3f> {};
 
template <>
struct traits<const Cal3f> : public internal::Manifold<Cal3f> {};
 
}  // namespace gtsam