orb_slam3_details/include/CameraModels/Pinhole.h

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/**
* This file is part of ORB-SLAM3
*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef CAMERAMODELS_PINHOLE_H
#define CAMERAMODELS_PINHOLE_H
#include <assert.h>
#include "GeometricCamera.h"
#include "TwoViewReconstruction.h"
namespace ORB_SLAM3 {
class Pinhole : public GeometricCamera {
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friend class boost::serialization::access;
template<class Archive>
void serialize(Archive& ar, const unsigned int version)
{
ar & boost::serialization::base_object<GeometricCamera>(*this);
}
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public:
Pinhole() {
mvParameters.resize(4);
mnId=nNextId++;
mnType = CAM_PINHOLE;
}
Pinhole(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), tvr(nullptr) {
assert(mvParameters.size() == 4);
mnId=nNextId++;
mnType = CAM_PINHOLE;
}
Pinhole(Pinhole* pPinhole) : GeometricCamera(pPinhole->mvParameters), tvr(nullptr) {
assert(mvParameters.size() == 4);
mnId=nNextId++;
mnType = CAM_PINHOLE;
}
~Pinhole(){
if(tvr) delete tvr;
}
cv::Point2f project(const cv::Point3f &p3D);
Eigen::Vector2d project(const Eigen::Vector3d & v3D);
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Eigen::Vector2f project(const Eigen::Vector3f & v3D);
Eigen::Vector2f projectMat(const cv::Point3f& p3D);
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float uncertainty2(const Eigen::Matrix<double,2,1> &p2D);
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Eigen::Vector3f unprojectEig(const cv::Point2f &p2D);
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cv::Point3f unproject(const cv::Point2f &p2D);
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Eigen::Matrix<double,2,3> projectJac(const Eigen::Vector3d& v3D);
bool ReconstructWithTwoViews(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
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Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
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cv::Mat toK();
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Eigen::Matrix3f toK_();
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bool epipolarConstrain(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const Eigen::Matrix3f& R12, const Eigen::Vector3f& t12, const float sigmaLevel, const float unc);
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bool matchAndtriangulate(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, GeometricCamera* pOther,
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Sophus::SE3f& Tcw1, Sophus::SE3f& Tcw2,
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const float sigmaLevel1, const float sigmaLevel2,
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Eigen::Vector3f& x3Dtriangulated) { return false;}
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friend std::ostream& operator<<(std::ostream& os, const Pinhole& ph);
friend std::istream& operator>>(std::istream& os, Pinhole& ph);
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bool IsEqual(GeometricCamera* pCam);
private:
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//Parameters vector corresponds to
// [fx, fy, cx, cy]
TwoViewReconstruction* tvr;
};
}
//BOOST_CLASS_EXPORT_KEY(ORBSLAM2::Pinhole)
#endif //CAMERAMODELS_PINHOLE_H