116 lines
4.4 KiB
C++
116 lines
4.4 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_PINHOLE_H
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#define CAMERAMODELS_PINHOLE_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 <boost/serialization/assume_abstract.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 Pinhole : public GeometricCamera {
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public:
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Pinhole() {
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mvParameters.resize(4);
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mnId=nNextId++;
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mnType = CAM_PINHOLE;
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}
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Pinhole(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), tvr(nullptr) {
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assert(mvParameters.size() == 4);
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mnId=nNextId++;
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mnType = CAM_PINHOLE;
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}
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Pinhole(Pinhole* pPinhole) : GeometricCamera(pPinhole->mvParameters), tvr(nullptr) {
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assert(mvParameters.size() == 4);
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mnId=nNextId++;
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mnType = CAM_PINHOLE;
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}
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~Pinhole(){
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if(tvr) delete tvr;
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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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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) { return false;}
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friend std::ostream& operator<<(std::ostream& os, const Pinhole& ph);
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friend std::istream& operator>>(std::istream& os, Pinhole& ph);
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private:
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cv::Mat SkewSymmetricMatrix(const cv::Mat &v);
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cv::Matx33f SkewSymmetricMatrix_(const cv::Matx31f &v);
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//Parameters vector corresponds to
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// [fx, fy, cx, cy]
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TwoViewReconstruction* tvr;
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};
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}
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//BOOST_CLASS_EXPORT_KEY(ORBSLAM2::Pinhole)
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#endif //CAMERAMODELS_PINHOLE_H
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