Cal3DS2_Base.h

/* ----------------------------------------------------------------------------

 * 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 Cal3DS2_Base {

protected:

  double fx_, fy_, s_, u0_, v0_ ; // focal length, skew and principal point
  double k1_, k2_ ; // radial 2nd-order and 4th-order
  double p1_, p2_ ; // tangential distortion

public:


  Cal3DS2_Base() : fx_(1), fy_(1), s_(0), u0_(0), v0_(0), k1_(0), k2_(0), p1_(0), p2_(0) {}

  Cal3DS2_Base(double fx, double fy, double s, double u0, double v0,
      double k1, double k2, double p1 = 0.0, double p2 = 0.0) :
  fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0), k1_(k1), k2_(k2), p1_(p1), p2_(p2) {}

  virtual ~Cal3DS2_Base() {}


  Cal3DS2_Base(const Vector &v) ;


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

  bool equals(const Cal3DS2_Base& K, double tol = 10e-9) const;


  inline double fx() const { return fx_;}

  inline double fy() const { return fy_;}

  inline double skew() const { return s_;}

  inline double px() const { return u0_;}

  inline double py() const { return v0_;}

  inline double k1() const { return k1_;}

  inline double k2() const { return k2_;}

  inline double p1() const { return p1_;}

  inline double p2() const { return p2_;}

  Matrix3 K() const;

  Vector4 k() const { return Vector4(k1_, k2_, p1_, p2_); }

  Vector9 vector() const;

  Point2 uncalibrate(const Point2& p,
       OptionalJacobian<2,9> Dcal = boost::none,
       OptionalJacobian<2,2> Dp = boost::none) const ;

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

  Matrix2 D2d_intrinsic(const Point2& p) const ;

  Matrix29 D2d_calibration(const Point2& p) const ;


  virtual boost::shared_ptr<Cal3DS2_Base> clone() const {
    return boost::shared_ptr<Cal3DS2_Base>(new Cal3DS2_Base(*this));
  }


private:


  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(fy_);
    ar & BOOST_SERIALIZATION_NVP(s_);
    ar & BOOST_SERIALIZATION_NVP(u0_);
    ar & BOOST_SERIALIZATION_NVP(v0_);
    ar & BOOST_SERIALIZATION_NVP(k1_);
    ar & BOOST_SERIALIZATION_NVP(k2_);
    ar & BOOST_SERIALIZATION_NVP(p1_);
    ar & BOOST_SERIALIZATION_NVP(p2_);
  }


};

}