Cal3Fisheye.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>

#include <string>

namespace gtsam {

class GTSAM_EXPORT Cal3Fisheye : public Cal3 {
 private:
  double k1_ = 0.0f, k2_ = 0.0f;  
  double k3_ = 0.0f, k4_ = 0.0f;  
  double tol_ = 1e-5;             

 public:
  enum { dimension = 9 };
  using shared_ptr = std::shared_ptr<Cal3Fisheye>;


  Cal3Fisheye() = default;

  Cal3Fisheye(const double fx, const double fy, const double s, const double u0,
              const double v0, const double k1, const double k2,
              const double k3, const double k4, double tol = 1e-5)
      : Cal3(fx, fy, s, u0, v0),
        k1_(k1),
        k2_(k2),
        k3_(k3),
        k4_(k4),
        tol_(tol) {}

  ~Cal3Fisheye() override {}


  explicit Cal3Fisheye(const Vector9& v)
      : Cal3(v(0), v(1), v(2), v(3), v(4)),
        k1_(v(5)),
        k2_(v(6)),
        k3_(v(7)),
        k4_(v(8)) {}


  inline double k1() const { return k1_; }

  inline double k2() const { return k2_; }

  inline double k3() const { return k3_; }

  inline double k4() const { return k4_; }

  Vector4 k() const { return Vector4(k1_, k2_, k3_, k4_); }

  Vector9 vector() const;

  static double Scaling(double r);

  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;


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3Fisheye& cal);

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

  bool equals(const Cal3Fisheye& K, double tol = 10e-9) const;


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

  inline static size_t Dim() { return dimension; }

  inline Cal3Fisheye retract(const Vector& d) const {
    return Cal3Fisheye(vector() + d);
  }

  Vector localCoordinates(const Cal3Fisheye& T2) const {
    return T2.vector() - vector();
  }


  virtual std::shared_ptr<Cal3Fisheye> clone() const {
    return std::shared_ptr<Cal3Fisheye>(new Cal3Fisheye(*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(
        "Cal3Fisheye", boost::serialization::base_object<Cal3>(*this));
    ar& BOOST_SERIALIZATION_NVP(k1_);
    ar& BOOST_SERIALIZATION_NVP(k2_);
    ar& BOOST_SERIALIZATION_NVP(k3_);
    ar& BOOST_SERIALIZATION_NVP(k4_);
  }
#endif

};

template <>
struct traits<Cal3Fisheye> : public internal::Manifold<Cal3Fisheye> {};

template <>
struct traits<const Cal3Fisheye> : public internal::Manifold<Cal3Fisheye> {};

}  // namespace gtsam