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BoofCV is an open source Java library for real-time computer vision and robotics applications.
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/*
 * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
 *
 * This file is part of BoofCV (http://boofcv.org).
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

package boofcv.alg.geo.bundle.cameras;

import boofcv.abst.geo.bundle.BundleAdjustmentCamera;
import georegression.struct.point.Point2D_F64;
import org.ejml.FancyPrint;
import org.jetbrains.annotations.Nullable;

import java.io.IOException;
import java.io.UncheckedIOException;
import java.util.HashMap;
import java.util.Map;

import static boofcv.misc.BoofMiscOps.getOrThrow;

/**
 * A pinhole camera with radial distortion that is fully described using three parameters. Focal length and two
 * radial distortion parameters.
 *
 * Assumptions:
 * 
 *     Zero skew
 *     fx and fy is the same, e.g. square pixels
 *     No tangential distortion
 *     Image center is at coordinate (0,0)
 * 
 * The image center being at (0,0) only matters if the camera's FOV is being enforced by filtering out pixels that
 * are outside the image. With this camera model pixels can have positive and negative values.
 *
 * @author Peter Abeles
 */
public class BundlePinholeSimplified implements BundleAdjustmentCamera {
	public final static String TYPE_NAME = "PinholeSimplified";

	// focal length
	public double f;
	// radial distortion parameters
	public double k1, k2;

	public BundlePinholeSimplified() {}

	public BundlePinholeSimplified( double f, double k1, double k2 ) {
		this.f = f;
		this.k1 = k1;
		this.k2 = k2;
	}

	@Override
	public void setIntrinsic( double[] parameters, int offset ) {
		f = parameters[offset];
		k1 = parameters[offset + 1];
		k2 = parameters[offset + 2];
	}

	@Override
	public void getIntrinsic( double[] parameters, int offset ) {
		parameters[offset] = f;
		parameters[offset + 1] = k1;
		parameters[offset + 2] = k2;
	}

	@Override
	public void project( double camX, double camY, double camZ, Point2D_F64 output ) {
		double normX = camX/camZ;
		double normY = camY/camZ;

		double n2 = normX*normX + normY*normY;

		double r = 1.0 + (k1 + k2*n2)*n2;

		output.x = f*r*normX;
		output.y = f*r*normY;
	}

	@Override
	public void jacobian( double X, double Y, double Z,
						  double[] inputX, double[] inputY, boolean computeIntrinsic,
						  @Nullable double[] calibX, @Nullable double[] calibY ) {

		double normX = X/Z;
		double normY = Y/Z;

		double n2 = normX*normX + normY*normY;

		double n2_X = 2*normX/Z;
		double n2_Y = 2*normY/Z;
		double n2_Z = -2*n2/Z;


		double r = 1.0 + (k1 + k2*n2)*n2;
		double kk = k1 + 2*k2*n2;

		double r_Z = n2_Z*kk;

		// partial X
		inputX[0] = (f/Z)*(r + 2*normX*normX*kk);
		inputY[0] = f*normY*n2_X*kk;

		// partial Y
		inputX[1] = f*normX*n2_Y*kk;
		inputY[1] = (f/Z)*(r + 2*normY*normY*kk);

		// partial Z
		inputX[2] = f*normX*(r_Z - r/Z);
		inputY[2] = f*normY*(r_Z - r/Z);

		if (!computeIntrinsic || calibX == null || calibY == null)
			return;

		// partial f
		calibX[0] = r*normX;
		calibY[0] = r*normY;

		// partial k1
		calibX[1] = f*normX*n2;
		calibY[1] = f*normY*n2;

		// partial k2
		calibX[2] = f*normX*n2*n2;
		calibY[2] = f*normY*n2*n2;
	}

	@Override
	public int getIntrinsicCount() {
		return 3;
	}

	@Override public BundleAdjustmentCamera setTo( Map src ) {
		try {
			f = getOrThrow(src, "f");
			k1 = getOrThrow(src, "k1");
			k2 = getOrThrow(src, "k2");
			return this;
		} catch (IOException e) {
			throw new UncheckedIOException(e);
		}
	}

	@Override public Map toMap() {
		var map = new HashMap();
		map.put("type", TYPE_NAME);
		map.put("f", f);
		map.put("k1", k1);
		map.put("k2", k2);
		return map;
	}

	@Override
	public String toString() {
		FancyPrint fp = new FancyPrint();

		return "BundlePinholeSimplified{" +
				"f=" + fp.s(f) +
				", k1=" + fp.s(k1) +
				", k2=" + fp.s(k2) +
				'}';
	}

	public void reset() {
		k1 = k2 = f = 0.0;
	}

	public void setTo( BundlePinholeSimplified c ) {
		this.f = c.f;
		this.k1 = c.k1;
		this.k2 = c.k2;
	}

	public BundlePinholeSimplified copy() {
		return new BundlePinholeSimplified(f, k1, k2);
	}

	public boolean isIdentical( BundlePinholeSimplified c, double tol ) {
		if (Math.abs(f - c.f) > tol)
			return false;
		if (Math.abs(k1 - c.k1) > tol)
			return false;
		if (Math.abs(k2 - c.k2) > tol)
			return false;
		return true;
	}
}