Cal3DS2.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/Cal3DS2_Base.h>

namespace gtsam {

class GTSAM_EXPORT Cal3DS2 : public Cal3DS2_Base {
  using Base = Cal3DS2_Base;

 public:
  enum { dimension = 9 };


  Cal3DS2() = default;

  Cal3DS2(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)
      : Base(fx, fy, s, u0, v0, k1, k2, p1, p2, tol) {}

  ~Cal3DS2() override {}


  Cal3DS2(const Vector9& v) : Base(v) {}


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3DS2& cal);

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

  bool equals(const Cal3DS2& K, double tol = 10e-9) const;


  Cal3DS2 retract(const Vector& d) const;

  Vector localCoordinates(const Cal3DS2& T2) const;

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

  inline static size_t Dim() { return dimension; }


  boost::shared_ptr<Base> clone() const override {
    return boost::shared_ptr<Base>(new Cal3DS2(*this));
  }


 private:

  friend class boost::serialization::access;
  template <class Archive>
  void serialize(Archive& ar, const unsigned int /*version*/) {
    ar& boost::serialization::make_nvp(
        "Cal3DS2", boost::serialization::base_object<Cal3DS2_Base>(*this));
  }

};

template <>
struct traits<Cal3DS2> : public internal::Manifold<Cal3DS2> {};

template <>
struct traits<const Cal3DS2> : public internal::Manifold<Cal3DS2> {};
}