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>
#include <gtsam/base/DerivedValue.h>

namespace gtsam {

class GTSAM_EXPORT Cal3Unified : public Cal3DS2_Base, public DerivedValue<Cal3Unified> {

  typedef Cal3Unified This;
  typedef Cal3DS2_Base Base;

private:

  double xi_;  // mirror parameter

public:
  //Matrix K() const ;
  //Eigen::Vector4d k() const { return Base::k(); }
  Vector vector() const ;


  Cal3Unified() : Base(), xi_(0) {}

  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(const Vector &v) ;


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

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


  inline double xi() const { return xi_;}

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

  Point2 calibrate(const Point2& p, const double tol=1e-5) 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 ;

  virtual size_t dim() const { return 10 ; } //TODO: make a final dimension variable (also, usually size_t in other classes e.g. Pose2)

  static size_t Dim() { return 10; }  //TODO: make a final dimension variable

private:


  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<Value>(*this));
    ar & boost::serialization::make_nvp("Cal3Unified",
        boost::serialization::base_object<Cal3DS2_Base>(*this));
    ar & BOOST_SERIALIZATION_NVP(xi_);
  }


};

}