/**
* 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_GEOMETRICCAMERA_H
#define CAMERAMODELS_GEOMETRICCAMERA_H
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
namespace ORB_SLAM3 {
class GeometricCamera {
public:
GeometricCamera() {}
GeometricCamera(const std::vector &_vParameters) : mvParameters(_vParameters) {}
~GeometricCamera() {}
virtual cv::Point2f project(const cv::Point3f &p3D) = 0;
virtual cv::Point2f project(const cv::Matx31f &m3D) = 0;
virtual cv::Point2f project(const cv::Mat& m3D) = 0;
virtual Eigen::Vector2d project(const Eigen::Vector3d & v3D) = 0;
virtual cv::Mat projectMat(const cv::Point3f& p3D) = 0;
virtual float uncertainty2(const Eigen::Matrix &p2D) = 0;
virtual cv::Point3f unproject(const cv::Point2f &p2D) = 0;
virtual cv::Mat unprojectMat(const cv::Point2f &p2D) = 0;
virtual cv::Matx31f unprojectMat_(const cv::Point2f &p2D) = 0;
virtual cv::Mat projectJac(const cv::Point3f &p3D) = 0;
virtual Eigen::Matrix projectJac(const Eigen::Vector3d& v3D) = 0;
virtual cv::Mat unprojectJac(const cv::Point2f &p2D) = 0;
virtual 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) = 0;
virtual cv::Mat toK() = 0;
virtual cv::Matx33f toK_() = 0;
virtual bool epipolarConstrain(GeometricCamera* otherCamera, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc) = 0;
virtual bool epipolarConstrain_(GeometricCamera* otherCamera, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc) = 0;
float getParameter(const int i){return mvParameters[i];}
void setParameter(const float p, const size_t i){mvParameters[i] = p;}
size_t size(){return mvParameters.size();}
virtual 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) = 0;
unsigned int GetId() { return mnId; }
unsigned int GetType() { return mnType; }
const unsigned int CAM_PINHOLE = 0;
const unsigned int CAM_FISHEYE = 1;
static long unsigned int nNextId;
protected:
std::vector mvParameters;
unsigned int mnId;
unsigned int mnType;
};
}
#endif //CAMERAMODELS_GEOMETRICCAMERA_H