Cal3Bundler.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/Point2.h>

namespace gtsam {

class GTSAM_EXPORT Cal3Bundler {

private:
  double f_; 
  double k1_, k2_; 
  double u0_, v0_; 

public:

  enum { dimension = 3 };


  Cal3Bundler();

  Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0);

  virtual ~Cal3Bundler() {}


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

  bool equals(const Cal3Bundler& K, double tol = 10e-9) const;


  Matrix3 K() const; 
  Vector4 k() const; 

  Vector3 vector() const;

  inline double fx() const {
    return f_;
  }

  inline double fy() const {
    return f_;
  }

  inline double k1() const {
    return k1_;
  }

  inline double k2() const {
    return k2_;
  }

  inline double u0() const {
    return u0_;
  }

  inline double v0() const {
    return v0_;
  }


  Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 3> Dcal = boost::none,
      OptionalJacobian<2, 2> Dp = boost::none) const;

  Point2 calibrate(const Point2& pi, const double tol = 1e-5) const;

  Matrix2 D2d_intrinsic(const Point2& p) const;

  Matrix23 D2d_calibration(const Point2& p) const;

  Matrix25 D2d_intrinsic_calibration(const Point2& p) const;


  Cal3Bundler retract(const Vector& d) const;

  Vector3 localCoordinates(const Cal3Bundler& T2) const;

  virtual size_t dim() const {
    return 3;
  }

  static size_t Dim() {
    return 3;
  }

private:


  friend class boost::serialization::access;
  template<class Archive>
  void serialize(Archive & ar, const unsigned int /*version*/) {
    ar & BOOST_SERIALIZATION_NVP(f_);
    ar & BOOST_SERIALIZATION_NVP(k1_);
    ar & BOOST_SERIALIZATION_NVP(k2_);
    ar & BOOST_SERIALIZATION_NVP(u0_);
    ar & BOOST_SERIALIZATION_NVP(v0_);
  }


};

template<>
struct traits<Cal3Bundler> : public internal::Manifold<Cal3Bundler> {};

template<>
struct traits<const Cal3Bundler> : public internal::Manifold<Cal3Bundler> {};

} // namespace gtsam