apex_camera_models/

bal_pinhole.rs

//! BAL (Bundle Adjustment in the Large) pinhole camera model.
//!
//! This module implements a pinhole camera model that follows the BAL dataset convention
//! where cameras look down the -Z axis (negative Z in front of camera).

use crate::{CameraModel, CameraModelError, DistortionModel, PinholeParams, skew_symmetric};
use apex_manifolds::LieGroup;
use apex_manifolds::se3::SE3;
use nalgebra::{DVector, SMatrix, Vector2, Vector3};

/// Strict BAL camera model matching Snavely's Bundler convention.
///
/// This camera model uses EXACTLY 3 intrinsic parameters matching the BAL file format:
/// - Single focal length (f): fx = fy
/// - Two radial distortion coefficients (k1, k2)
/// - NO principal point (cx = cy = 0 by convention)
///
/// This matches the intrinsic parameterization used by:
/// - Ceres Solver bundle adjustment examples
/// - GTSAM bundle adjustment
/// - Original Bundler software
///
/// # Parameters
///
/// - `f`: Single focal length in pixels (fx = fy = f)
/// - `k1`: First radial distortion coefficient
/// - `k2`: Second radial distortion coefficient
///
/// # Projection Model
///
/// For a 3D point `p_cam = (x, y, z)` in camera frame where z < 0:
/// ```text
/// x_n = x / (-z)
/// y_n = y / (-z)
/// r² = x_n² + y_n²
/// distortion = 1 + k1*r² + k2*r⁴
/// x_d = x_n * distortion
/// y_d = y_n * distortion
/// u = f * x_d      (no cx offset)
/// v = f * y_d      (no cy offset)
/// ```
///
/// # Usage
///
/// This camera model should be used for bundle adjustment problems that read
/// BAL format files, to ensure parameter compatibility and avoid degenerate
/// optimization (extra DOF from fx≠fy or non-zero principal point).
#[derive(Debug, Clone, Copy, PartialEq)]
pub struct BALPinholeCameraStrict {
    /// Single focal length (fx = fy = f)
    pub f: f64,
    pub distortion: DistortionModel,
}

impl BALPinholeCameraStrict {
    /// Creates a new strict BAL pinhole camera with distortion.
    ///
    /// # Arguments
    ///
    /// * `pinhole` - Pinhole parameters. MUST have `fx == fy` and `cx == cy == 0` for strict BAL format.
    /// * `distortion` - MUST be [`DistortionModel::Radial`] with `k1` and `k2`.
    ///
    /// # Returns
    ///
    /// Returns a new `BALPinholeCameraStrict` instance if parameters satisfy the strict BAL constraints.
    ///
    /// # Errors
    ///
    /// Returns [`CameraModelError::InvalidParams`] if:
    /// - `pinhole.fx != pinhole.fy` (strict BAL requires single focal length).
    /// - `pinhole.cx != 0.0` or `pinhole.cy != 0.0` (strict BAL has no principal point offset).
    /// - `distortion` is not [`DistortionModel::Radial`].
    ///
    /// # Example
    ///
    /// ```
    /// use apex_camera_models::{BALPinholeCameraStrict, PinholeParams, DistortionModel};
    ///
    /// let pinhole = PinholeParams::new(500.0, 500.0, 0.0, 0.0)?;
    /// let distortion = DistortionModel::Radial { k1: -0.1, k2: 0.01 };
    /// let camera = BALPinholeCameraStrict::new(pinhole, distortion)?;
    /// # Ok::<(), apex_camera_models::CameraModelError>(())
    /// ```
    pub fn new(
        pinhole: PinholeParams,
        distortion: DistortionModel,
    ) -> Result<Self, CameraModelError> {
        // Validate strict BAL constraints on input
        if (pinhole.fx - pinhole.fy).abs() > 1e-10 {
            return Err(CameraModelError::InvalidParams(
                "BALPinholeCameraStrict requires fx = fy (single focal length)".to_string(),
            ));
        }
        if pinhole.cx.abs() > 1e-10 || pinhole.cy.abs() > 1e-10 {
            return Err(CameraModelError::InvalidParams(
                "BALPinholeCameraStrict requires cx = cy = 0 (no principal point offset)"
                    .to_string(),
            ));
        }

        let camera = Self {
            f: pinhole.fx, // Use fx as the single focal length
            distortion,
        };
        camera.validate_params()?;
        Ok(camera)
    }

    /// Creates a strict BAL pinhole camera without distortion (k1=0, k2=0).
    ///
    /// This is a convenience constructor for the common case of no distortion.
    ///
    /// # Arguments
    ///
    /// * `f` - The single focal length in pixels.
    ///
    /// # Returns
    ///
    /// Returns a new `BALPinholeCameraStrict` instance with zero distortion.
    ///
    /// # Errors
    ///
    /// Returns [`CameraModelError`] if the focal length is invalid (e.g., negative).
    pub fn new_no_distortion(f: f64) -> Result<Self, CameraModelError> {
        let pinhole = PinholeParams::new(f, f, 0.0, 0.0)?;
        let distortion = DistortionModel::Radial { k1: 0.0, k2: 0.0 };
        Self::new(pinhole, distortion)
    }

    /// Helper method to extract distortion parameters.
    ///
    /// # Returns
    ///
    /// Returns a tuple `(k1, k2)` containing the radial distortion coefficients.
    /// If the distortion model is not radial (which shouldn't happen for valid instances), returns `(0.0, 0.0)`.
    fn distortion_params(&self) -> (f64, f64) {
        match self.distortion {
            DistortionModel::Radial { k1, k2 } => (k1, k2),
            _ => (0.0, 0.0),
        }
    }

    /// Checks if a 3D point satisfies the projection condition.
    ///
    /// For BAL, the condition is `z < -epsilon` (negative Z is in front of camera).
    ///
    /// # Arguments
    ///
    /// * `z` - The z-coordinate of the point in the camera frame.
    ///
    /// # Returns
    ///
    /// Returns `true` if the point is safely in front of the camera, `false` otherwise.
    fn check_projection_condition(&self, z: f64) -> bool {
        z < -crate::MIN_DEPTH
    }
}

/// Convert camera to dynamic vector of intrinsic parameters.
///
/// # Layout
///
/// The parameters are ordered as: [f, k1, k2]
impl From<&BALPinholeCameraStrict> for DVector<f64> {
    fn from(camera: &BALPinholeCameraStrict) -> Self {
        let (k1, k2) = camera.distortion_params();
        DVector::from_vec(vec![camera.f, k1, k2])
    }
}

/// Convert camera to fixed-size array of intrinsic parameters.
///
/// # Layout
///
/// The parameters are ordered as: [f, k1, k2]
impl From<&BALPinholeCameraStrict> for [f64; 3] {
    fn from(camera: &BALPinholeCameraStrict) -> Self {
        let (k1, k2) = camera.distortion_params();
        [camera.f, k1, k2]
    }
}

/// Create camera from slice of intrinsic parameters.
///
/// # Layout
///
/// Expected parameter order: [f, k1, k2]
///
/// Returns an error if the slice has fewer than 3 elements.
impl TryFrom<&[f64]> for BALPinholeCameraStrict {
    type Error = CameraModelError;

    fn try_from(params: &[f64]) -> Result<Self, Self::Error> {
        if params.len() < 3 {
            return Err(CameraModelError::InvalidParams(format!(
                "BALPinholeCameraStrict requires at least 3 parameters, got {}",
                params.len()
            )));
        }
        Ok(Self {
            f: params[0],
            distortion: DistortionModel::Radial {
                k1: params[1],
                k2: params[2],
            },
        })
    }
}

/// Create camera from fixed-size array of intrinsic parameters.
///
/// # Layout
///
/// Expected parameter order: [f, k1, k2]
impl From<[f64; 3]> for BALPinholeCameraStrict {
    fn from(params: [f64; 3]) -> Self {
        Self {
            f: params[0],
            distortion: DistortionModel::Radial {
                k1: params[1],
                k2: params[2],
            },
        }
    }
}

/// Creates a `BALPinholeCameraStrict` from a parameter slice with validation.
///
/// Returns a `Result` instead of panicking on invalid input.
///
/// # Errors
///
/// Returns `CameraModelError::InvalidParams` if fewer than 3 parameters are provided.
/// Returns validation errors if focal length is non-positive or parameters are non-finite.
pub fn try_from_params(params: &[f64]) -> Result<BALPinholeCameraStrict, CameraModelError> {
    let camera = BALPinholeCameraStrict::try_from(params)?;
    camera.validate_params()?;
    Ok(camera)
}

impl CameraModel for BALPinholeCameraStrict {
    const INTRINSIC_DIM: usize = 3; // f, k1, k2
    type IntrinsicJacobian = SMatrix<f64, 2, 3>;
    type PointJacobian = SMatrix<f64, 2, 3>;

    /// Projects a 3D point to 2D image coordinates.
    ///
    /// # Mathematical Formula
    ///
    /// BAL/Bundler convention (camera looks down negative Z axis):
    ///
    /// ```text
    /// x_n = x / (−z)
    /// y_n = y / (−z)
    /// r² = x_n² + y_n²
    /// r⁴ = (r²)²
    /// d = 1 + k₁·r² + k₂·r⁴
    /// u = f · x_n · d
    /// v = f · y_n · d
    /// ```
    ///
    /// # Arguments
    ///
    /// * `p_cam` - 3D point in camera coordinate frame (x, y, z).
    ///
    /// # Returns
    ///
    /// Returns the 2D image coordinates (u, v) if valid.
    ///
    /// # Errors
    ///
    /// Returns [`CameraModelError::ProjectionOutOfBounds`] if point is not in front of camera (z ≥ 0).
    fn project(&self, p_cam: &Vector3<f64>) -> Result<Vector2<f64>, CameraModelError> {
        // BAL convention: negative Z is in front
        if !self.check_projection_condition(p_cam.z) {
            return Err(CameraModelError::ProjectionOutOfBounds);
        }
        let inv_neg_z = -1.0 / p_cam.z;

        // Normalized coordinates
        let x_n = p_cam.x * inv_neg_z;
        let y_n = p_cam.y * inv_neg_z;

        let (k1, k2) = self.distortion_params();

        // Radial distortion
        let r2 = x_n * x_n + y_n * y_n;
        let r4 = r2 * r2;
        let distortion = 1.0 + k1 * r2 + k2 * r4;

        // Apply distortion and focal length (no principal point offset)
        let x_d = x_n * distortion;
        let y_d = y_n * distortion;

        Ok(Vector2::new(self.f * x_d, self.f * y_d))
    }

    /// Computes the Jacobian of the projection function with respect to the 3D point in camera frame.
    ///
    /// # Mathematical Derivation
    ///
    /// The projection function maps a 3D point p_cam = (x, y, z) to 2D pixel coordinates (u, v).
    ///
    /// Normalized coordinates (BAL uses negative Z convention):
    /// ```text
    /// x_n = x / (-z) = x * inv_neg_z
    /// y_n = y / (-z) = y * inv_neg_z
    /// ```
    ///
    /// Jacobian of normalized coordinates:
    /// ```text
    /// ∂x_n/∂x = inv_neg_z = -1/z
    /// ∂x_n/∂y = 0
    /// ∂x_n/∂z = x_n * inv_neg_z
    /// ∂y_n/∂x = 0
    /// ∂y_n/∂y = inv_neg_z = -1/z
    /// ∂y_n/∂z = y_n * inv_neg_z
    /// ```
    ///
    /// Radial distortion:
    ///
    /// The radial distance squared and distortion factor:
    /// ```text
    /// r² = x_n² + y_n²
    /// r⁴ = (r²)²
    /// d(r²) = 1 + k1·r² + k2·r⁴
    /// ```
    ///
    /// Distorted coordinates:
    /// ```text
    /// x_d = x_n · d(r²)
    /// y_d = y_n · d(r²)
    /// ```
    ///
    /// ### Derivatives of r² and d(r²):
    /// ```text
    /// ∂(r²)/∂x_n = 2·x_n
    /// ∂(r²)/∂y_n = 2·y_n
    ///
    /// ∂d/∂(r²) = k1 + 2·k2·r²
    /// ```
    ///
    /// ### Jacobian of distorted coordinates w.r.t. normalized:
    /// ```text
    /// ∂x_d/∂x_n = ∂(x_n · d)/∂x_n = d + x_n · (∂d/∂(r²)) · (∂(r²)/∂x_n)
    ///           = d + x_n · (k1 + 2·k2·r²) · 2·x_n
    ///
    /// ∂x_d/∂y_n = x_n · (∂d/∂(r²)) · (∂(r²)/∂y_n)
    ///           = x_n · (k1 + 2·k2·r²) · 2·y_n
    ///
    /// ∂y_d/∂x_n = y_n · (k1 + 2·k2·r²) · 2·x_n
    ///
    /// ∂y_d/∂y_n = d + y_n · (k1 + 2·k2·r²) · 2·y_n
    /// ```
    ///
    /// Pixel coordinates (strict BAL has no principal point):
    /// ```text
    /// u = f · x_d
    /// v = f · y_d
    /// ```
    ///
    /// Chain rule:
    /// ```text
    /// J = ∂(u,v)/∂(x_d,y_d) · ∂(x_d,y_d)/∂(x_n,y_n) · ∂(x_n,y_n)/∂(x,y,z)
    /// ```
    ///
    /// Final results:
    /// ```text
    /// ∂u/∂x = f · (∂x_d/∂x_n · ∂x_n/∂x + ∂x_d/∂y_n · ∂y_n/∂x)
    ///       = f · (∂x_d/∂x_n · inv_neg_z)
    ///
    /// ∂u/∂y = f · (∂x_d/∂y_n · inv_neg_z)
    ///
    /// ∂u/∂z = f · (∂x_d/∂x_n · ∂x_n/∂z + ∂x_d/∂y_n · ∂y_n/∂z)
    ///
    /// ∂v/∂x = f · (∂y_d/∂x_n · inv_neg_z)
    ///
    /// ∂v/∂y = f · (∂y_d/∂y_n · inv_neg_z)
    ///
    /// ∂v/∂z = f · (∂y_d/∂x_n · ∂x_n/∂z + ∂y_d/∂y_n · ∂y_n/∂z)
    /// ```
    ///
    /// # Arguments
    ///
    /// * `p_cam` - 3D point in camera coordinate frame.
    ///
    /// # Returns
    ///
    /// Returns the 2x3 Jacobian matrix.
    ///
    /// # References
    ///
    /// - Snavely et al., "Photo Tourism: Exploring Photo Collections in 3D", SIGGRAPH 2006
    /// - Agarwal et al., "Bundle Adjustment in the Large", ECCV 2010
    /// - [Bundle Adjustment in the Large Dataset](https://grail.cs.washington.edu/projects/bal/)
    ///
    /// # Verification
    ///
    /// This Jacobian is verified against numerical differentiation in tests.
    fn jacobian_point(&self, p_cam: &Vector3<f64>) -> Self::PointJacobian {
        let inv_neg_z = -1.0 / p_cam.z;
        let x_n = p_cam.x * inv_neg_z;
        let y_n = p_cam.y * inv_neg_z;

        let (k1, k2) = self.distortion_params();

        // Radial distortion
        let r2 = x_n * x_n + y_n * y_n;
        let r4 = r2 * r2;
        let distortion = 1.0 + k1 * r2 + k2 * r4;

        // Derivative of distortion w.r.t. r²
        let d_dist_dr2 = k1 + 2.0 * k2 * r2;

        // Jacobian of normalized coordinates w.r.t. camera point
        let dxn_dz = x_n * inv_neg_z;
        let dyn_dz = y_n * inv_neg_z;

        // Jacobian of distorted point w.r.t. normalized point
        let dx_d_dxn = distortion + x_n * d_dist_dr2 * 2.0 * x_n;
        let dx_d_dyn = x_n * d_dist_dr2 * 2.0 * y_n;
        let dy_d_dxn = y_n * d_dist_dr2 * 2.0 * x_n;
        let dy_d_dyn = distortion + y_n * d_dist_dr2 * 2.0 * y_n;

        // Chain rule with single focal length f (not fx/fy)
        let du_dx = self.f * (dx_d_dxn * inv_neg_z);
        let du_dy = self.f * (dx_d_dyn * inv_neg_z);
        let du_dz = self.f * (dx_d_dxn * dxn_dz + dx_d_dyn * dyn_dz);

        let dv_dx = self.f * (dy_d_dxn * inv_neg_z);
        let dv_dy = self.f * (dy_d_dyn * inv_neg_z);
        let dv_dz = self.f * (dy_d_dxn * dxn_dz + dy_d_dyn * dyn_dz);

        SMatrix::<f64, 2, 3>::new(du_dx, du_dy, du_dz, dv_dx, dv_dy, dv_dz)
    }

    /// Jacobian of projection w.r.t. camera pose (2×6).
    ///
    /// Computes ∂π/∂δξ where π is the projection and δξ ∈ se(3) is the pose perturbation.
    ///
    /// # Mathematical Derivation
    ///
    /// Given a 3D point in world frame `p_world` and camera pose `pose` (camera-to-world transformation),
    /// we need the Jacobian ∂π/∂δξ.
    ///
    /// ## Camera Coordinate Transformation
    ///
    /// The pose is a camera-to-world SE(3) transformation: T_cw = (R, t) where:
    /// - R ∈ SO(3): rotation from camera to world
    /// - t ∈ ℝ³: translation of camera origin in world frame
    ///
    /// To transform from world to camera, we use the inverse:
    /// ```text
    /// p_cam = T_cw^{-1} · p_world = R^T · (p_world - t)
    /// ```
    ///
    /// ## SE(3) Right Perturbation
    ///
    /// Right perturbation on SE(3) for δξ = [δρ; δθ] ∈ ℝ⁶:
    /// ```text
    /// T' = T ∘ Exp(δξ)
    /// ```
    ///
    /// Where δξ = [δρ; δθ] with:
    /// - δρ ∈ ℝ³: translation perturbation (in camera frame)
    /// - δθ ∈ ℝ³: rotation perturbation (axis-angle in camera frame)
    ///
    /// ## Perturbation Effect on Transformed Point
    ///
    /// Under right perturbation T' = T ∘ Exp([δρ; δθ]):
    /// ```text
    /// R' = R · Exp(δθ) ≈ R · (I + [δθ]×)
    /// t' ≈ t + R · δρ  (for small δθ, V(δθ) ≈ I)
    /// ```
    ///
    /// Then the transformed point becomes:
    /// ```text
    /// p_cam' = (R')^T · (p_world - t')
    ///        = (I - [δθ]×) · R^T · (p_world - t - R · δρ)
    ///        ≈ (I - [δθ]×) · R^T · (p_world - t) - (I - [δθ]×) · δρ
    ///        ≈ (I - [δθ]×) · p_cam - δρ
    ///        = p_cam - [δθ]× · p_cam - δρ
    ///        = p_cam + p_cam × δθ - δρ
    ///        = p_cam + [p_cam]× · δθ - δρ
    ///        = p_cam + [p_cam]× · δθ - δρ
    /// ```
    ///
    /// Where [v]× denotes the skew-symmetric matrix (cross-product matrix).
    ///
    /// ## Jacobian of p_cam w.r.t. Pose Perturbation
    ///
    /// From the above derivation:
    /// ```text
    /// ∂p_cam/∂[δρ; δθ] = [-I | [p_cam]×]
    /// ```
    ///
    /// This is a 3×6 matrix where:
    /// - First 3 columns (translation): -I (identity with negative sign)
    /// - Last 3 columns (rotation): [p_cam]× (skew-symmetric matrix of p_cam)
    ///
    /// ## Chain Rule
    ///
    /// The final Jacobian is:
    /// ```text
    /// ∂(u,v)/∂ξ = ∂(u,v)/∂p_cam · ∂p_cam/∂ξ
    /// ```
    ///
    /// # Arguments
    ///
    /// * `p_world` - 3D point in world coordinate frame.
    /// * `pose` - The camera pose in SE(3).
    ///
    /// # Returns
    ///
    /// Returns a tuple `(d_uv_d_pcam, d_pcam_d_pose)`:
    /// - `d_uv_d_pcam`: 2×3 Jacobian of projection w.r.t. point in camera frame
    /// - `d_pcam_d_pose`: 3×6 Jacobian of camera point w.r.t. pose perturbation
    ///
    /// # References
    ///
    /// - Barfoot & Furgale, "Associating Uncertainty with Three-Dimensional Poses for Use in Estimation Problems", IEEE Trans. Robotics 2014
    /// - Solà et al., "A Micro Lie Theory for State Estimation in Robotics", arXiv:1812.01537, 2018
    /// - Blanco, "A tutorial on SE(3) transformation parameterizations and on-manifold optimization", Technical Report 2010
    ///
    /// # Verification
    ///
    /// This Jacobian is verified against numerical differentiation in tests.
    fn jacobian_pose(
        &self,
        p_world: &Vector3<f64>,
        pose: &SE3,
    ) -> (Self::PointJacobian, SMatrix<f64, 3, 6>) {
        // World-to-camera convention: p_cam = R · p_world + t
        let p_cam = pose.act(p_world, None, None);

        let d_uv_d_pcam = self.jacobian_point(&p_cam);

        // Right perturbation on T_wc:
        //   ∂p_cam/∂δρ = R        (cols 0-2)
        //   ∂p_cam/∂δθ = -R·[p_world]×  (cols 3-5)
        let rotation = pose.rotation_so3().rotation_matrix();
        let p_world_skew = skew_symmetric(p_world);

        let d_pcam_d_pose = SMatrix::<f64, 3, 6>::from_fn(|r, c| {
            if c < 3 {
                rotation[(r, c)]
            } else {
                let col = c - 3;
                -(0..3)
                    .map(|k| rotation[(r, k)] * p_world_skew[(k, col)])
                    .sum::<f64>()
            }
        });

        (d_uv_d_pcam, d_pcam_d_pose)
    }

    /// Computes the Jacobian of the projection function with respect to intrinsic parameters.
    ///
    /// # Mathematical Derivation
    ///
    /// The strict BAL camera has EXACTLY 3 intrinsic parameters:
    /// ```text
    /// θ = [f, k1, k2]
    /// ```
    ///
    /// Where:
    /// - f: Single focal length (fx = fy = f)
    /// - k1, k2: Radial distortion coefficients
    /// - NO principal point (cx = cy = 0 by convention)
    ///
    /// ## Projection Model
    ///
    /// Recall the projection equations:
    /// ```text
    /// x_n = x / (-z),  y_n = y / (-z)
    /// r² = x_n² + y_n²
    /// d(r²; k1, k2) = 1 + k1·r² + k2·r⁴
    /// x_d = x_n · d(r²; k1, k2)
    /// y_d = y_n · d(r²; k1, k2)
    /// u = f · x_d
    /// v = f · y_d
    /// ```
    ///
    /// ## Jacobian w.r.t. Focal Length (f)
    ///
    /// The focal length appears only in the final step:
    /// ```text
    /// ∂u/∂f = ∂(f · x_d)/∂f = x_d
    /// ∂v/∂f = ∂(f · y_d)/∂f = y_d
    /// ```
    ///
    /// ## Jacobian w.r.t. Distortion Coefficients (k1, k2)
    ///
    /// The distortion coefficients affect the distortion function d(r²):
    /// ```text
    /// ∂d/∂k1 = r²
    /// ∂d/∂k2 = r⁴
    /// ```
    ///
    /// Using the chain rule:
    /// ```text
    /// ∂u/∂k1 = ∂(f · x_d)/∂k1 = f · ∂x_d/∂k1
    ///        = f · ∂(x_n · d)/∂k1
    ///        = f · x_n · (∂d/∂k1)
    ///        = f · x_n · r²
    ///
    /// ∂u/∂k2 = f · x_n · (∂d/∂k2)
    ///        = f · x_n · r⁴
    /// ```
    ///
    /// Similarly for v:
    /// ```text
    /// ∂v/∂k1 = f · y_n · r²
    /// ∂v/∂k2 = f · y_n · r⁴
    /// ```
    ///
    /// ## Complete Jacobian Matrix (2×3)
    ///
    /// ```text
    ///         ∂/∂f    ∂/∂k1        ∂/∂k2
    /// ∂u/∂θ = [x_d,   f·x_n·r²,   f·x_n·r⁴]
    /// ∂v/∂θ = [y_d,   f·y_n·r²,   f·y_n·r⁴]
    /// ```
    ///
    /// # Arguments
    ///
    /// * `p_cam` - 3D point in camera coordinate frame.
    ///
    /// # Returns
    ///
    /// Returns the 2x3 Intrinsic Jacobian matrix (w.r.t `[f, k1, k2]`).
    ///
    /// # References
    ///
    /// - Agarwal et al., "Bundle Adjustment in the Large", ECCV 2010, Section 3
    /// - [Ceres Solver: Bundle Adjustment Tutorial](http://ceres-solver.org/nnls_tutorial.html#bundle-adjustment)
    /// - Triggs et al., "Bundle Adjustment - A Modern Synthesis", Vision Algorithms: Theory and Practice, 2000
    ///
    /// # Notes
    ///
    /// This differs from the general `BALPinholeCamera` which has 6 parameters (fx, fy, cx, cy, k1, k2).
    /// The strict BAL format enforces `fx=fy` and `cx=cy=0` to match the original Bundler software
    /// and standard BAL dataset files, reducing the intrinsic dimensionality from 6 to 3.
    ///
    /// # Verification
    ///
    /// This Jacobian is verified against numerical differentiation in tests.
    fn jacobian_intrinsics(&self, p_cam: &Vector3<f64>) -> Self::IntrinsicJacobian {
        let inv_neg_z = -1.0 / p_cam.z;
        let x_n = p_cam.x * inv_neg_z;
        let y_n = p_cam.y * inv_neg_z;

        // Radial distortion
        let (k1, k2) = self.distortion_params();
        let r2 = x_n * x_n + y_n * y_n;
        let r4 = r2 * r2;
        let distortion = 1.0 + k1 * r2 + k2 * r4;

        let x_d = x_n * distortion;
        let y_d = y_n * distortion;

        // Jacobian ∂(u,v)/∂(f,k1,k2)
        SMatrix::<f64, 2, 3>::new(
            x_d,               // ∂u/∂f
            self.f * x_n * r2, // ∂u/∂k1
            self.f * x_n * r4, // ∂u/∂k2
            y_d,               // ∂v/∂f
            self.f * y_n * r2, // ∂v/∂k1
            self.f * y_n * r4, // ∂v/∂k2
        )
    }

    /// Unprojects a 2D image point to a 3D ray.
    ///
    /// # Mathematical Formula
    ///
    /// Iterative undistortion followed by back-projection:
    ///
    /// ```text
    /// x_d = u / f
    /// y_d = v / f
    /// // iterative undistortion to recover x_n, y_n
    /// ray = normalize([x_n, y_n, −1])
    /// ```
    ///
    /// Uses Newton-Raphson iteration to solve the radial distortion polynomial
    /// for undistorted normalized coordinates, then converts to a unit ray.
    ///
    /// # Arguments
    ///
    /// * `point_2d` - 2D point in image coordinates (u, v).
    ///
    /// # Returns
    ///
    /// Returns the normalized 3D ray direction.
    fn unproject(&self, point_2d: &Vector2<f64>) -> Result<Vector3<f64>, CameraModelError> {
        // Remove distortion and convert to ray
        // Principal point is (0,0) for strict BAL
        let x_d = point_2d.x / self.f;
        let y_d = point_2d.y / self.f;

        // Iterative undistortion
        let mut x_n = x_d;
        let mut y_n = y_d;

        let (k1, k2) = self.distortion_params();

        for _ in 0..5 {
            let r2 = x_n * x_n + y_n * y_n;
            let distortion = 1.0 + k1 * r2 + k2 * r2 * r2;
            x_n = x_d / distortion;
            y_n = y_d / distortion;
        }

        // BAL convention: camera looks down -Z axis
        let norm = (1.0 + x_n * x_n + y_n * y_n).sqrt();
        Ok(Vector3::new(x_n / norm, y_n / norm, -1.0 / norm))
    }

    /// Validates camera parameters.
    ///
    /// # Validation Rules
    ///
    /// - Focal length `f` must be positive.
    /// - Focal length `f` must be finite.
    /// - Distortion coefficients `k1`, `k2` must be finite.
    ///
    /// # Errors
    ///
    /// Returns [`CameraModelError`] if any parameter violates validation rules.
    fn validate_params(&self) -> Result<(), CameraModelError> {
        self.get_pinhole_params().validate()?;
        self.get_distortion().validate()
    }

    /// Returns the pinhole parameters of the camera.
    ///
    /// Note: For strict BAL cameras, `fx = fy = f` and `cx = cy = 0`.
    ///
    /// # Returns
    ///
    /// A [`PinholeParams`] struct where `fx = fy = f` and `cx = cy = 0`.
    fn get_pinhole_params(&self) -> PinholeParams {
        PinholeParams {
            fx: self.f,
            fy: self.f,
            cx: 0.0,
            cy: 0.0,
        }
    }

    /// Returns the distortion model and parameters of the camera.
    ///
    /// # Returns
    ///
    /// The [`DistortionModel`] associated with this camera (typically [`DistortionModel::Radial`] with k1, k2).
    fn get_distortion(&self) -> DistortionModel {
        self.distortion
    }

    /// Returns the string identifier for the camera model.
    ///
    /// # Returns
    ///
    /// The string `"bal_pinhole"`.
    fn get_model_name(&self) -> &'static str {
        "bal_pinhole"
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    type TestResult = Result<(), Box<dyn std::error::Error>>;

    #[test]
    fn test_bal_strict_camera_creation() -> TestResult {
        let pinhole = PinholeParams::new(500.0, 500.0, 0.0, 0.0)?;
        let distortion = DistortionModel::Radial { k1: 0.4, k2: -0.3 };
        let camera = BALPinholeCameraStrict::new(pinhole, distortion)?;
        let (k1, k2) = camera.distortion_params();

        assert_eq!(camera.f, 500.0);
        assert_eq!(k1, 0.4);
        assert_eq!(k2, -0.3);
        Ok(())
    }

    #[test]
    fn test_bal_strict_rejects_different_focal_lengths() {
        let pinhole = PinholeParams {
            fx: 500.0,
            fy: 505.0, // Different from fx
            cx: 0.0,
            cy: 0.0,
        };
        let distortion = DistortionModel::Radial { k1: 0.0, k2: 0.0 };
        let result = BALPinholeCameraStrict::new(pinhole, distortion);
        assert!(result.is_err());
    }

    #[test]
    fn test_bal_strict_rejects_non_zero_principal_point() {
        let pinhole = PinholeParams {
            fx: 500.0,
            fy: 500.0,
            cx: 320.0, // Non-zero
            cy: 0.0,
        };
        let distortion = DistortionModel::Radial { k1: 0.0, k2: 0.0 };
        let result = BALPinholeCameraStrict::new(pinhole, distortion);
        assert!(result.is_err());
    }

    #[test]
    fn test_bal_strict_projection_at_optical_axis() -> TestResult {
        let camera = BALPinholeCameraStrict::new_no_distortion(500.0)?;
        let p_cam = Vector3::new(0.0, 0.0, -1.0);

        let uv = camera.project(&p_cam)?;

        // Point on optical axis projects to origin (no principal point offset)
        assert!(uv.x.abs() < 1e-10);
        assert!(uv.y.abs() < 1e-10);

        Ok(())
    }

    #[test]
    fn test_bal_strict_projection_off_axis() -> TestResult {
        let camera = BALPinholeCameraStrict::new_no_distortion(500.0)?;
        let p_cam = Vector3::new(0.1, 0.2, -1.0);

        let uv = camera.project(&p_cam)?;

        // u = 500 * 0.1 = 50 (no principal point offset)
        // v = 500 * 0.2 = 100
        assert!((uv.x - 50.0).abs() < 1e-10);
        assert!((uv.y - 100.0).abs() < 1e-10);

        Ok(())
    }

    #[test]
    fn test_bal_strict_from_into_traits() -> TestResult {
        let camera = BALPinholeCameraStrict::new_no_distortion(400.0)?;

        // Test conversion to DVector
        let params: DVector<f64> = (&camera).into();
        assert_eq!(params.len(), 3);
        assert_eq!(params[0], 400.0);
        assert_eq!(params[1], 0.0);
        assert_eq!(params[2], 0.0);

        // Test conversion to array
        let arr: [f64; 3] = (&camera).into();
        assert_eq!(arr, [400.0, 0.0, 0.0]);

        // Test conversion from slice
        let params_slice = [450.0, 0.1, 0.01];
        let camera2 = BALPinholeCameraStrict::try_from(&params_slice[..])?;
        let (cam2_k1, cam2_k2) = camera2.distortion_params();
        assert_eq!(camera2.f, 450.0);
        assert_eq!(cam2_k1, 0.1);
        assert_eq!(cam2_k2, 0.01);

        // Test conversion from array
        let camera3 = BALPinholeCameraStrict::from([500.0, 0.2, 0.02]);
        let (cam3_k1, cam3_k2) = camera3.distortion_params();
        assert_eq!(camera3.f, 500.0);
        assert_eq!(cam3_k1, 0.2);
        assert_eq!(cam3_k2, 0.02);

        Ok(())
    }

    #[test]
    fn test_project_unproject_round_trip() -> TestResult {
        let camera = BALPinholeCameraStrict::new_no_distortion(500.0)?;

        // BAL uses -Z convention: points in front of camera have z < 0
        let test_points = [
            Vector3::new(0.1, 0.2, -1.0),
            Vector3::new(-0.3, 0.1, -2.0),
            Vector3::new(0.05, -0.1, -0.5),
        ];

        for p_cam in &test_points {
            let uv = camera.project(p_cam)?;
            let ray = camera.unproject(&uv)?;
            let dot = ray.dot(&p_cam.normalize());
            assert!(
                (dot - 1.0).abs() < 1e-6,
                "Round-trip failed: dot={dot}, expected ~1.0"
            );
        }

        Ok(())
    }

    #[test]
    fn test_jacobian_pose_numerical() -> TestResult {
        use apex_manifolds::LieGroup;
        use apex_manifolds::se3::{SE3, SE3Tangent};

        let camera = BALPinholeCameraStrict::new_no_distortion(500.0)?;

        // BAL uses -Z convention. Use a pose and world point such that
        // pose_inv.act(p_world) has z < 0.
        let pose = SE3::from_translation_euler(0.1, -0.05, 0.2, 0.0, 0.0, 0.0);
        let p_world = Vector3::new(0.1, 0.05, -3.0);

        let (d_uv_d_pcam, d_pcam_d_pose) = camera.jacobian_pose(&p_world, &pose);
        let d_uv_d_pose = d_uv_d_pcam * d_pcam_d_pose;

        let eps = crate::NUMERICAL_DERIVATIVE_EPS;

        for i in 0..6 {
            let mut d = [0.0f64; 6];
            d[i] = eps;
            let delta_plus = SE3Tangent::from_components(d[0], d[1], d[2], d[3], d[4], d[5]);
            d[i] = -eps;
            let delta_minus = SE3Tangent::from_components(d[0], d[1], d[2], d[3], d[4], d[5]);

            // Right perturbation on T_wc: pose' = pose · Exp(δ)
            let p_cam_plus = pose.plus(&delta_plus, None, None).act(&p_world, None, None);
            let p_cam_minus = pose
                .plus(&delta_minus, None, None)
                .act(&p_world, None, None);

            let uv_plus = camera.project(&p_cam_plus)?;
            let uv_minus = camera.project(&p_cam_minus)?;

            let num_deriv = (uv_plus - uv_minus) / (2.0 * eps);

            for r in 0..2 {
                let analytical = d_uv_d_pose[(r, i)];
                let numerical = num_deriv[r];
                assert!(
                    analytical.is_finite(),
                    "jacobian_pose[{r},{i}] is not finite"
                );
                let rel_err = (analytical - numerical).abs() / (1.0 + numerical.abs());
                assert!(
                    rel_err < crate::JACOBIAN_TEST_TOLERANCE,
                    "jacobian_pose mismatch at ({r},{i}): analytical={analytical}, numerical={numerical}"
                );
            }
        }

        Ok(())
    }

    #[test]
    fn test_project_returns_error_behind_camera() -> TestResult {
        let camera = BALPinholeCameraStrict::new_no_distortion(500.0)?;
        // BAL: z > 0 is behind camera
        assert!(camera.project(&Vector3::new(0.0, 0.0, 1.0)).is_err());
        Ok(())
    }

    #[test]
    fn test_project_at_min_depth_boundary() -> TestResult {
        let camera = BALPinholeCameraStrict::new_no_distortion(500.0)?;
        // BAL: min depth is in negative-z direction
        let p_min = Vector3::new(0.0, 0.0, -crate::MIN_DEPTH);
        if let Ok(uv) = camera.project(&p_min) {
            assert!(uv.x.is_finite() && uv.y.is_finite());
        }
        Ok(())
    }
}