gtsam/gtsam/geometry/Cal3Bundler.h

/* ----------------------------------------------------------------------------

 * 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

 * -------------------------------------------------------------------------- */

/**
 * @file Cal3Bundler.h
 * @brief Calibration used by Bundler
 * @date Sep 25, 2010
 * @author Yong Dian Jian
 */

#pragma once

#include <gtsam/geometry/Point2.h>

namespace gtsam {

/**
 * @brief Calibration used by Bundler
 * @addtogroup geometry
 * \nosubgrouping
 */
class GTSAM_EXPORT Cal3Bundler {

private:
  double f_; ///< focal length
  double k1_, k2_; ///< radial distortion
  double u0_, v0_; ///< image center, not a parameter to be optimized but a constant
  double tol_; ///< tolerance value when calibrating

public:

  enum { dimension = 3 };

  /// @name Standard Constructors
  /// @{

  /// Default constructor
  Cal3Bundler();

  /**
   *  Constructor
   *  @param f focal length
   *  @param k1 first radial distortion coefficient (quadratic)
   *  @param k2 second radial distortion coefficient (quartic)
   *  @param u0 optional image center (default 0), considered a constant
   *  @param v0 optional image center (default 0), considered a constant
   *  @param tol optional calibration tolerance value
   */
  Cal3Bundler(double f, double k1, double k2, double u0 = 0, double v0 = 0,
              double tol = 1e-5);

  virtual ~Cal3Bundler() {}

  /// @}
  /// @name Testable
  /// @{

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

  /// assert equality up to a tolerance
  bool equals(const Cal3Bundler& K, double tol = 10e-9) const;

  /// @}
  /// @name Standard Interface
  /// @{

  Matrix3 K() const; ///< Standard 3*3 calibration matrix
  Vector4 k() const; ///< Radial distortion parameters (4 of them, 2 0)

  Vector3 vector() const;

  /// focal length x
  inline double fx() const {
    return f_;
  }

  /// focal length y
  inline double fy() const {
    return f_;
  }

  /// distorsion parameter k1
  inline double k1() const {
    return k1_;
  }

  /// distorsion parameter k2
  inline double k2() const {
    return k2_;
  }

  /// get parameter u0
  inline double u0() const {
    return u0_;
  }

  /// get parameter v0
  inline double v0() const {
    return v0_;
  }


  /**
   * @brief: convert intrinsic coordinates xy to image coordinates uv
   * Version of uncalibrate with derivatives
   * @param p point in intrinsic coordinates
   * @param Dcal optional 2*3 Jacobian wrpt CalBundler parameters
   * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
   * @return point in image coordinates
   */
  Point2 uncalibrate(const Point2& p, OptionalJacobian<2, 3> Dcal = boost::none,
      OptionalJacobian<2, 2> Dp = boost::none) const;

  /**
   * Convert a pixel coordinate to ideal coordinate xy
   * @param p point in image coordinates
   * @param tol optional tolerance threshold value for iterative minimization
   * @param Dcal optional 2*3 Jacobian wrpt Cal3Bundler parameters
   * @param Dp optional 2*2 Jacobian wrpt intrinsic coordinates
   * @return point in intrinsic coordinates
   */
  Point2 calibrate(const Point2& pi,
                   OptionalJacobian<2, 3> Dcal = boost::none,
                   OptionalJacobian<2, 2> Dp = boost::none) const;

  /// @deprecated might be removed in next release, use uncalibrate
  Matrix2 D2d_intrinsic(const Point2& p) const;

  /// @deprecated might be removed in next release, use uncalibrate
  Matrix23 D2d_calibration(const Point2& p) const;

  /// @deprecated might be removed in next release, use uncalibrate
  Matrix25 D2d_intrinsic_calibration(const Point2& p) const;

  /// @}
  /// @name Manifold
  /// @{

  /// Update calibration with tangent space delta
  Cal3Bundler retract(const Vector& d) const;

  /// Calculate local coordinates to another calibration
  Vector3 localCoordinates(const Cal3Bundler& T2) const;

  /// dimensionality
  virtual size_t dim() const {
    return 3;
  }

  /// dimensionality
  static size_t Dim() {
    return 3;
  }

private:

  /// @}
  /// @name Advanced Interface
  /// @{

  /** Serialization function */
  friend class boost::serialization::access;
  template<class Archive>
  void serialize(Archive & ar, const unsigned int /*version*/) {
    ar & BOOST_SERIALIZATION_NVP(f_);
    ar & BOOST_SERIALIZATION_NVP(k1_);
    ar & BOOST_SERIALIZATION_NVP(k2_);
    ar & BOOST_SERIALIZATION_NVP(u0_);
    ar & BOOST_SERIALIZATION_NVP(v0_);
    ar & BOOST_SERIALIZATION_NVP(tol_);
  }

  /// @}

};

template<>
struct traits<Cal3Bundler> : public internal::Manifold<Cal3Bundler> {};

template<>
struct traits<const Cal3Bundler> : public internal::Manifold<Cal3Bundler> {};

} // namespace gtsam