/** * This file is part of ORB-SLAM3 * * Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. * 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 . */ #ifndef CAMERAMODELS_KANNALABRANDT8_H #define CAMERAMODELS_KANNALABRANDT8_H #include #include #include #include #include #include #include "GeometricCamera.h" #include "TwoViewReconstruction.h" namespace ORB_SLAM3 { class KannalaBrandt8 final : public GeometricCamera { friend class boost::serialization::access; template void serialize(Archive& ar, const unsigned int version) { ar & boost::serialization::base_object(*this); ar & const_cast(precision); } public: KannalaBrandt8() : precision(1e-6) { mvParameters.resize(8); mnId=nNextId++; mnType = CAM_FISHEYE; } KannalaBrandt8(const std::vector _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) { assert(mvParameters.size() == 8); mnId=nNextId++; mnType = CAM_FISHEYE; } KannalaBrandt8(const std::vector _vParameters, const float _precision) : GeometricCamera(_vParameters), precision(_precision), mvLappingArea(2,0) { assert(mvParameters.size() == 8); mnId=nNextId++; mnType = CAM_FISHEYE; } KannalaBrandt8(KannalaBrandt8* pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) { assert(mvParameters.size() == 8); mnId=nNextId++; mnType = CAM_FISHEYE; } cv::Point2f project(const cv::Point3f &p3D); cv::Point2f project(const cv::Mat& m3D); Eigen::Vector2d project(const Eigen::Vector3d & v3D); cv::Mat projectMat(const cv::Point3f& p3D); float uncertainty2(const Eigen::Matrix &p2D); cv::Point3f unproject(const cv::Point2f &p2D); cv::Mat unprojectMat(const cv::Point2f &p2D); cv::Mat projectJac(const cv::Point3f &p3D); Eigen::Matrix projectJac(const Eigen::Vector3d& v3D); cv::Mat unprojectJac(const cv::Point2f &p2D); bool ReconstructWithTwoViews(const std::vector& vKeys1, const std::vector& vKeys2, const std::vector &vMatches12, cv::Mat &R21, cv::Mat &t21, std::vector &vP3D, std::vector &vbTriangulated); cv::Mat toK(); bool epipolarConstrain(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc); float TriangulateMatches(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc, cv::Mat& p3D); std::vector mvLappingArea; bool matchAndtriangulate(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, GeometricCamera* pOther, cv::Mat& Tcw1, cv::Mat& Tcw2, const float sigmaLevel1, const float sigmaLevel2, cv::Mat& x3Dtriangulated); friend std::ostream& operator<<(std::ostream& os, const KannalaBrandt8& kb); friend std::istream& operator>>(std::istream& is, KannalaBrandt8& kb); private: const float precision; //Parameters vector corresponds to //[fx, fy, cx, cy, k0, k1, k2, k3] TwoViewReconstruction* tvr; void Triangulate(const cv::Point2f &p1, const cv::Point2f &p2, const cv::Mat &Tcw1, const cv::Mat &Tcw2,cv::Mat &x3D); }; } //BOOST_CLASS_EXPORT_KEY(ORBSLAM2::KannalaBrandt8) #endif //CAMERAMODELS_KANNALABRANDT8_H