StereoCamera.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 <boost/tuple/tuple.hpp>

#include <gtsam/base/DerivedValue.h>
#include <gtsam/geometry/Cal3_S2Stereo.h>
#include <gtsam/geometry/Pose3.h>
#include <gtsam/geometry/StereoPoint2.h>

namespace gtsam {

class GTSAM_EXPORT StereoCheiralityException: public std::runtime_error {
public:
  StereoCheiralityException() : std::runtime_error("Stereo Cheirality Exception") {}
};


class GTSAM_EXPORT StereoCamera  : public DerivedValue<StereoCamera> {

private:
  Pose3 leftCamPose_;
  Cal3_S2Stereo::shared_ptr K_;

public:


  StereoCamera() {
  }

  StereoCamera(const Pose3& leftCamPose, const Cal3_S2Stereo::shared_ptr K);

  const Cal3_S2Stereo::shared_ptr calibration() const {
    return K_;
  }


  void print(const std::string& s = "") const {
    leftCamPose_.print(s + ".camera.");
    K_->print(s + ".calibration.");
  }

  bool equals(const StereoCamera &camera, double tol = 1e-9) const {
    return leftCamPose_.equals(camera.leftCamPose_, tol) && K_->equals(
        *camera.K_, tol);
  }


  inline size_t dim() const {
    return 6;
  }

  static inline size_t Dim() {
    return 6;
  }

  inline StereoCamera retract(const Vector& v) const {
    return StereoCamera(pose().retract(v), K_);
  }

  inline Vector localCoordinates(const StereoCamera& t2) const {
    return Vector(leftCamPose_.localCoordinates(t2.leftCamPose_));
  }

  Pose3 between(const StereoCamera &camera,
      boost::optional<Matrix&> H1=boost::none,
      boost::optional<Matrix&> H2=boost::none) const {
    return leftCamPose_.between(camera.pose(), H1, H2);
  }


  const Pose3& pose() const {
    return leftCamPose_;
  }

  double baseline() const {
    return K_->baseline();
  }

  /*
   * project 3D point and compute optional derivatives
   */
  StereoPoint2 project(const Point3& point,
      boost::optional<Matrix&> H1 = boost::none,
      boost::optional<Matrix&> H2 = boost::none) const;

  /*
   * to accomodate tsam's assumption that K is estimated, too
   */
  StereoPoint2 project(const Point3& point,
      boost::optional<Matrix&> H1,
      boost::optional<Matrix&> H1_k,
      boost::optional<Matrix&> H2) const {
    return project(point, H1, H2);
  }

  Point3 backproject(const StereoPoint2& z) const {
    Vector measured = z.vector();
    double Z = K_->baseline()*K_->fx()/(measured[0]-measured[1]);
    double X = Z *(measured[0]- K_->px()) / K_->fx();
    double Y = Z *(measured[2]- K_->py()) / K_->fy();
    Point3 world_point = leftCamPose_.transform_from(Point3(X, Y, Z));
    return world_point;
  }


private:
  Matrix Dproject_to_stereo_camera1(const Point3& P) const;

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

};

}