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/Cal3.h>
#include <gtsam/geometry/Point2.h>

namespace gtsam {

class GTSAM_EXPORT Cal3Bundler : public Cal3 {
 private:
  double k1_ = 0.0f, k2_ = 0.0f;  
  double tol_ = 1e-5;             

  // NOTE: We use the base class fx to represent the common focal length.
  // Also, image center parameters (u0, v0) are not optimized
  // but are treated as constants.

 public:
  enum { dimension = 3 };

  using shared_ptr = std::shared_ptr<Cal3Bundler>;


  Cal3Bundler() = default;

  Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0,
              double tol = 1e-5)
      : Cal3(f, f, 0, u0, v0), k1_(k1), k2_(k2), tol_(tol) {}

  ~Cal3Bundler() override {}


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3Bundler& cal);

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

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


  inline double k1() const { return k1_; }

  inline double k2() const { return k2_; }

  inline double px() const { return u0_; }

  inline double py() const { return v0_; }

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

  Vector3 vector() const;

  Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 3> Dcal = {},
                     OptionalJacobian<2, 2> Dp = {}) const;

  Point2 calibrate(const Point2& pi, OptionalJacobian<2, 3> Dcal = {},
                   OptionalJacobian<2, 2> Dp = {}) const;

  Matrix2 D2d_intrinsic(const Point2& p) const;

  Matrix23 D2d_calibration(const Point2& p) const;

  Matrix25 D2d_intrinsic_calibration(const Point2& p) const;


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

  inline static size_t Dim() { return dimension; }

  inline Cal3Bundler retract(const Vector& d) const {
    return Cal3Bundler(fx_ + d(0), k1_ + d(1), k2_ + d(2), u0_, v0_);
  }

  Vector3 localCoordinates(const Cal3Bundler& T2) const {
    return T2.vector() - vector();
  }

 private:

#ifdef 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(
        "Cal3Bundler", boost::serialization::base_object<Cal3>(*this));
    ar& BOOST_SERIALIZATION_NVP(k1_);
    ar& BOOST_SERIALIZATION_NVP(k2_);
    ar& BOOST_SERIALIZATION_NVP(tol_);
  }
#endif

};

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

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

}  // namespace gtsam