StereoPoint2.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>
#include <gtsam/base/VectorSpace.h>
#include <boost/serialization/nvp.hpp>

namespace gtsam {

class GTSAM_EXPORT StereoPoint2 {
private:

  double uL_, uR_, v_;

public:
  enum { dimension = 3 };

  StereoPoint2() :
      uL_(0), uR_(0), v_(0) {
  }

  StereoPoint2(double uL, double uR, double v) :
      uL_(uL), uR_(uR), v_(v) {
  }

  explicit StereoPoint2(const Vector3& v) :
    uL_(v(0)), uR_(v(1)), v_(v(2)) {}


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

  bool equals(const StereoPoint2& q, double tol = 1e-9) const {
    return (std::abs(uL_ - q.uL_) < tol && std::abs(uR_ - q.uR_) < tol
        && std::abs(v_ - q.v_) < tol);
  }


  inline static StereoPoint2 identity() {
    return StereoPoint2();
  }

  StereoPoint2 operator-() const {
    return StereoPoint2(-uL_, -uR_, -v_);
  }

  inline StereoPoint2 operator +(const Vector3& v) const {
    return StereoPoint2(uL_ + v[0], uR_ + v[1], v_ + v[2]);
  }

  inline StereoPoint2 operator +(const StereoPoint2& b) const {
    return StereoPoint2(uL_ + b.uL_, uR_ + b.uR_, v_ + b.v_);
  }

  inline StereoPoint2 operator -(const StereoPoint2& b) const {
    return StereoPoint2(uL_ - b.uL_, uR_ - b.uR_, v_ - b.v_);
  }


  inline bool operator ==(const StereoPoint2& q) const {return uL_== q.uL_ && uR_==q.uR_ && v_ == q.v_;}

  inline double uL() const {return uL_;}

  inline double uR() const {return uR_;}

  inline double v() const {return v_;}

  Vector3 vector() const {
    return Vector3(uL_, uR_, v_);
  }

  Point2 point2() const {
    return Point2(uL_, v_);
  }

  Point2 right() const {
    return Point2(uR_, v_);
  }

  inline StereoPoint2 inverse() const { return StereoPoint2()- (*this);}
  inline StereoPoint2 compose(const StereoPoint2& p1) const { return *this + p1;}
  inline StereoPoint2 between(const StereoPoint2& p2) const { return p2 - *this; }
  inline Vector localCoordinates(const StereoPoint2& t2) const { return Logmap(between(t2)); }
  inline StereoPoint2 retract(const Vector& v) const { return compose(Expmap(v)); }
  static inline Vector Logmap(const StereoPoint2& p) { return p.vector(); }
  static inline StereoPoint2 Expmap(const Vector& d) { return StereoPoint2(d(0), d(1), d(2)); }

  GTSAM_EXPORT friend std::ostream &operator<<(std::ostream &os, const StereoPoint2& p);

private:


  friend class boost::serialization::access;
  template<class ARCHIVE>
  void serialize(ARCHIVE & ar, const unsigned int /*version*/) {
    ar & BOOST_SERIALIZATION_NVP(uL_);
    ar & BOOST_SERIALIZATION_NVP(uR_);
    ar & BOOST_SERIALIZATION_NVP(v_);
  }


};

typedef std::vector<StereoPoint2> StereoPoint2Vector;

template<>
struct traits<StereoPoint2> : public internal::VectorSpace<StereoPoint2> {};

template<>
struct traits<const StereoPoint2> : public internal::VectorSpace<StereoPoint2> {};
}