Cal3DS2_Base.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>
#include <memory>

namespace gtsam {

class GTSAM_EXPORT Cal3DS2_Base : public Cal3 {
 protected:
  double k1_ = 0.0f, k2_ = 0.0f;  
  double p1_ = 0.0f, p2_ = 0.0f;  
  double tol_ = 1e-5;             

 public:
  enum { dimension = 9 };

  using shared_ptr = std::shared_ptr<Cal3DS2_Base>;


  Cal3DS2_Base() = default;

  Cal3DS2_Base(double fx, double fy, double s, double u0, double v0, double k1,
               double k2, double p1 = 0.0, double p2 = 0.0, double tol = 1e-5)
      : Cal3(fx, fy, s, u0, v0),
        k1_(k1),
        k2_(k2),
        p1_(p1),
        p2_(p2),
        tol_(tol) {}

  ~Cal3DS2_Base() override {}


  Cal3DS2_Base(const Vector9& v)
      : Cal3(v(0), v(1), v(2), v(3), v(4)),
        k1_(v(5)),
        k2_(v(6)),
        p1_(v(7)),
        p2_(v(8)) {}


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3DS2_Base& cal);

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

  bool equals(const Cal3DS2_Base& K, double tol = 1e-8) const;


  inline double k1() const { return k1_; }

  inline double k2() const { return k2_; }

  inline double p1() const { return p1_; }

  inline double p2() const { return p2_; }

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

  Vector9 vector() const;

  Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = {},
                     OptionalJacobian<2, 2> Dp = {}) const;

  Point2 calibrate(const Point2& p, OptionalJacobian<2, 9> Dcal = {},
                   OptionalJacobian<2, 2> Dp = {}) const;

  Matrix2 D2d_intrinsic(const Point2& p) const;

  Matrix29 D2d_calibration(const Point2& p) const;

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

  inline static size_t Dim() { return dimension; }


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


 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(
        "Cal3DS2_Base", boost::serialization::base_object<Cal3>(*this));
    ar& BOOST_SERIALIZATION_NVP(k1_);
    ar& BOOST_SERIALIZATION_NVP(k2_);
    ar& BOOST_SERIALIZATION_NVP(p1_);
    ar& BOOST_SERIALIZATION_NVP(p2_);
    ar& BOOST_SERIALIZATION_NVP(tol_);
  }
#endif

};
}