127 lines
5.6 KiB
C++
127 lines
5.6 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2020 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.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CAMERAMODELS_KANNALABRANDT8_H
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#define CAMERAMODELS_KANNALABRANDT8_H
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#include <assert.h>
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#include <vector>
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#include <opencv2/core/core.hpp>
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#include <boost/serialization/serialization.hpp>
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#include <boost/serialization/base_object.hpp>
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#include <boost/serialization/vector.hpp>
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#include "GeometricCamera.h"
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#include "TwoViewReconstruction.h"
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namespace ORB_SLAM3 {
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class KannalaBrandt8 final : public GeometricCamera {
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public:
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KannalaBrandt8() : precision(1e-6) {
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mvParameters.resize(8);
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mnId=nNextId++;
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mnType = CAM_FISHEYE;
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}
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KannalaBrandt8(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
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assert(mvParameters.size() == 8);
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mnId=nNextId++;
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mnType = CAM_FISHEYE;
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}
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KannalaBrandt8(const std::vector<float> _vParameters, const float _precision) : GeometricCamera(_vParameters),
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precision(_precision), mvLappingArea(2,0) {
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assert(mvParameters.size() == 8);
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mnId=nNextId++;
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mnType = CAM_FISHEYE;
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}
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KannalaBrandt8(KannalaBrandt8* pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
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assert(mvParameters.size() == 8);
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mnId=nNextId++;
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mnType = CAM_FISHEYE;
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}
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// 投影函数
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cv::Point2f project(const cv::Point3f &p3D);
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cv::Point2f project(const cv::Matx31f &m3D);
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cv::Point2f project(const cv::Mat& m3D);
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Eigen::Vector2d project(const Eigen::Vector3d & v3D);
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cv::Mat projectMat(const cv::Point3f& p3D);
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// 返回像素点的不确定性，返回的都是1.0f
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float uncertainty2(const Eigen::Matrix<double,2,1> &p2D);
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// 反投影
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cv::Point3f unproject(const cv::Point2f &p2D);
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cv::Mat unprojectMat(const cv::Point2f &p2D);
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cv::Matx31f unprojectMat_(const cv::Point2f &p2D);
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// 投影雅可比
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cv::Mat projectJac(const cv::Point3f &p3D);
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Eigen::Matrix<double,2,3> projectJac(const Eigen::Vector3d& v3D);
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// 反投影雅可比（未使用）
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cv::Mat unprojectJac(const cv::Point2f &p2D);
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// 三角化恢复三维点
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bool ReconstructWithTwoViews(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
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cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
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// 返回K矩阵
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cv::Mat toK();
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cv::Matx33f toK_();
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// 极线约束
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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);
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bool epipolarConstrain_(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc);
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// 三角化匹配
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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);
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float TriangulateMatches_(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc, cv::Matx31f& p3D);
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std::vector<int> mvLappingArea;
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// 匹配三角化
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bool matchAndtriangulate(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, GeometricCamera* pOther,
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cv::Mat& Tcw1, cv::Mat& Tcw2,
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const float sigmaLevel1, const float sigmaLevel2,
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cv::Mat& x3Dtriangulated);
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friend std::ostream& operator<<(std::ostream& os, const KannalaBrandt8& kb);
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friend std::istream& operator>>(std::istream& is, KannalaBrandt8& kb);
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private:
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const float precision; // 迭代使用
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//Parameters vector corresponds to
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//[fx, fy, cx, cy, k0, k1, k2, k3]
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TwoViewReconstruction* tvr;
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// 三角化
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void Triangulate(const cv::Point2f &p1, const cv::Point2f &p2, const cv::Mat &Tcw1, const cv::Mat &Tcw2,cv::Mat &x3D);
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void Triangulate_(const cv::Point2f &p1, const cv::Point2f &p2, const cv::Matx44f &Tcw1, const cv::Matx44f &Tcw2,cv::Matx31f &x3D);
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};
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}
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//BOOST_CLASS_EXPORT_KEY(ORBSLAM2::KannalaBrandt8)
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#endif //CAMERAMODELS_KANNALABRANDT8_H
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