Cal3_S2.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/base/DerivedValue.h>
#include <gtsam/geometry/Point2.h>

namespace gtsam {

class GTSAM_EXPORT Cal3_S2: public DerivedValue<Cal3_S2> {
private:
  double fx_, fy_, s_, u0_, v0_;

public:

  typedef boost::shared_ptr<Cal3_S2> shared_ptr; 


  Cal3_S2() :
      fx_(1), fy_(1), s_(0), u0_(0), v0_(0) {
  }

  Cal3_S2(double fx, double fy, double s, double u0, double v0) :
      fx_(fx), fy_(fy), s_(s), u0_(u0), v0_(v0) {
  }

  Cal3_S2(const Vector &d) :
      fx_(d(0)), fy_(d(1)), s_(d(2)), u0_(d(3)), v0_(d(4)) {
  }

  Cal3_S2(double fov, int w, int h);


  Cal3_S2(const std::string &path);


  void print(const std::string& s = "Cal3_S2") const;

  bool equals(const Cal3_S2& K, double tol = 10e-9) const;


  inline double fx() const {
    return fx_;
  }

  inline double fy() const {
    return 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_);
  }

  Vector vector() const {
    double r[] = { fx_, fy_, s_, u0_, v0_ };
    Vector v(5);
    std::copy(r, r + 5, v.data());
    return v;
  }

  Matrix K() const {
    return (Matrix(3, 3) <<  fx_, s_, u0_, 0.0, fy_, v0_, 0.0, 0.0, 1.0);
  }

  Matrix matrix() const {
    return K();
  }

  Matrix matrix_inverse() const {
    const double fxy = fx_ * fy_, sv0 = s_ * v0_, fyu0 = fy_ * u0_;
    return (Matrix(3, 3) << 1.0 / fx_, -s_ / fxy, (sv0 - fyu0) / fxy, 0.0,
        1.0 / fy_, -v0_ / fy_, 0.0, 0.0, 1.0);
  }

  Point2 uncalibrate(const Point2& p, boost::optional<Matrix&> Dcal =
      boost::none, boost::optional<Matrix&> Dp = boost::none) const;

  Point2 calibrate(const Point2& p) const;

  Vector3 calibrate(const Vector3& p) const;

  inline Cal3_S2 between(const Cal3_S2& q,
      boost::optional<Matrix&> H1=boost::none,
      boost::optional<Matrix&> H2=boost::none) const {
    if(H1) *H1 = -eye(5);
    if(H2) *H2 = eye(5);
    return Cal3_S2(q.fx_-fx_, q.fy_-fy_, q.s_-s_, q.u0_-u0_, q.v0_-v0_);
  }



  inline size_t dim() const {
    return 5;
  }

  static size_t Dim() {
    return 5;
  }

  inline Cal3_S2 retract(const Vector& d) const {
    return Cal3_S2(fx_ + d(0), fy_ + d(1), s_ + d(2), u0_ + d(3), v0_ + d(4));
  }

  Vector localCoordinates(const Cal3_S2& T2) const {
    return T2.vector() - vector();
  }


private:

  friend class boost::serialization::access;
  template<class Archive>
  void serialize(Archive & ar, const unsigned int version) {
    ar
        & boost::serialization::make_nvp("Cal3_S2",
            boost::serialization::base_object<Value>(*this));
    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_);
  }


};

} // \ namespace gtsam