Cal3.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>

namespace gtsam {

template <typename Cal, size_t Dim>
void calibrateJacobians(const Cal& calibration, const Point2& pn,
                        OptionalJacobian<2, Dim> Dcal = {},
                        OptionalJacobian<2, 2> Dp = {}) {
  if (Dcal || Dp) {
    Eigen::Matrix<double, 2, Dim> H_uncal_K;
    Matrix22 H_uncal_pn, H_uncal_pn_inv;

    // Compute uncalibrate Jacobians
    calibration.uncalibrate(pn, Dcal ? &H_uncal_K : nullptr, H_uncal_pn);

    H_uncal_pn_inv = H_uncal_pn.inverse();

    if (Dp) *Dp = H_uncal_pn_inv;
    if (Dcal) *Dcal = -H_uncal_pn_inv * H_uncal_K;
  }
}

class GTSAM_EXPORT Cal3 {
 protected:
  double fx_ = 1.0f, fy_ = 1.0f;  
  double s_ = 0.0f;               
  double u0_ = 0.0f, v0_ = 0.0f;  

 public:
  enum { dimension = 5 };
  using shared_ptr = std::shared_ptr<Cal3>;


  Cal3() = default;

  Cal3(double fx, double fy, double s, double u0, double v0)
      : fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) {}

  Cal3(const Vector5& d)
      : fx_(d(0)), fy_(d(1)), s_(d(2)), u0_(d(3)), v0_(d(4)) {}

  Cal3(double fov, int w, int h);

  virtual ~Cal3() {}


  Cal3(const std::string& path);


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3& cal);

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

  bool equals(const Cal3& K, double tol = 10e-9) const;


  inline double fx() const { return fx_; }

  inline double fy() const { return fy_; }

  inline double aspectRatio() const { return fx_ / fy_; }

  inline double skew() const { return s_; }

  inline double px() const { return u0_; }

  inline double py() const { return v0_; }

  Point2 principalPoint() const { return Point2(u0_, v0_); }

  Vector5 vector() const {
    Vector5 v;
    v << fx_, fy_, s_, u0_, v0_;
    return v;
  }

  virtual Matrix3 K() const {
    Matrix3 K;
    K << fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0;
    return K;
  }

  Matrix3 inverse() const;

  inline virtual size_t dim() const { return Dim(); }

  inline static size_t Dim() { return dimension; }


 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_NVP(fx_);
    ar& BOOST_SERIALIZATION_NVP(fy_);
    ar& BOOST_SERIALIZATION_NVP(s_);
    ar& BOOST_SERIALIZATION_NVP(u0_);
    ar& BOOST_SERIALIZATION_NVP(v0_);
  }
#endif

};

}  // \ namespace gtsam