Cal3Unified.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 Cal3Unified : public Cal3DS2_Base {
  using This = Cal3Unified;
  using Base = Cal3DS2_Base;

 private:
  double xi_ = 0.0f;  

 public:
  enum { dimension = 10 };

  using shared_ptr = std::shared_ptr<Cal3Unified>;


  Cal3Unified() = default;

  Cal3Unified(double fx, double fy, double s, double u0, double v0, double k1,
              double k2, double p1 = 0.0, double p2 = 0.0, double xi = 0.0)
      : Base(fx, fy, s, u0, v0, k1, k2, p1, p2), xi_(xi) {}

  ~Cal3Unified() override {}


  Cal3Unified(const Vector10& v)
      : Base(v(0), v(1), v(2), v(3), v(4), v(5), v(6), v(7), v(8)), xi_(v(9)) {}


  GTSAM_EXPORT friend std::ostream& operator<<(std::ostream& os,
                                               const Cal3Unified& cal);

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

  bool equals(const Cal3Unified& K, double tol = 10e-9) const;


  inline double xi() const { return xi_; }

  Vector10 vector() const;

  Point2 uncalibrate(const Point2& p,
                     OptionalJacobian<2, 10> Dcal = {},
                     OptionalJacobian<2, 2> Dp = {}) const;

  Point2 calibrate(const Point2& p, OptionalJacobian<2, 10> Dcal = {},
                   OptionalJacobian<2, 2> Dp = {}) const;

  Point2 spaceToNPlane(const Point2& p) const;

  Point2 nPlaneToSpace(const Point2& p) const;


  Cal3Unified retract(const Vector& d) const;

  Vector localCoordinates(const Cal3Unified& T2) const;

  size_t dim() const override { 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::make_nvp(
        "Cal3Unified", boost::serialization::base_object<Cal3DS2_Base>(*this));
    ar& BOOST_SERIALIZATION_NVP(xi_);
  }
#endif
};

template <>
struct traits<Cal3Unified> : public internal::Manifold<Cal3Unified> {};

template <>
struct traits<const Cal3Unified> : public internal::Manifold<Cal3Unified> {};
}