136 lines
3.9 KiB
C++
136 lines
3.9 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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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.
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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 SIM3SOLVER_H
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#define SIM3SOLVER_H
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#include <opencv2/opencv.hpp>
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#include <vector>
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#include "KeyFrame.h"
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namespace ORB_SLAM3
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{
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class Sim3Solver
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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Sim3Solver(KeyFrame* pKF1, KeyFrame* pKF2, const std::vector<MapPoint*> &vpMatched12, const bool bFixScale = true,
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const vector<KeyFrame*> vpKeyFrameMatchedMP = vector<KeyFrame*>());
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void SetRansacParameters(double probability = 0.99, int minInliers = 6 , int maxIterations = 300);
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Eigen::Matrix4f find(std::vector<bool> &vbInliers12, int &nInliers);
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Eigen::Matrix4f iterate(int nIterations, bool &bNoMore, std::vector<bool> &vbInliers, int &nInliers);
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Eigen::Matrix4f iterate(int nIterations, bool &bNoMore, vector<bool> &vbInliers, int &nInliers, bool &bConverge);
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Eigen::Matrix4f GetEstimatedTransformation();
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Eigen::Matrix3f GetEstimatedRotation();
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Eigen::Vector3f GetEstimatedTranslation();
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float GetEstimatedScale();
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protected:
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void ComputeCentroid(Eigen::Matrix3f &P, Eigen::Matrix3f &Pr, Eigen::Vector3f &C);
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void ComputeSim3(Eigen::Matrix3f &P1, Eigen::Matrix3f &P2);
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void CheckInliers();
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void Project(const std::vector<Eigen::Vector3f> &vP3Dw, std::vector<Eigen::Vector2f> &vP2D, Eigen::Matrix4f Tcw, GeometricCamera* pCamera);
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void FromCameraToImage(const std::vector<Eigen::Vector3f> &vP3Dc, std::vector<Eigen::Vector2f> &vP2D, GeometricCamera* pCamera);
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protected:
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// KeyFrames and matches
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KeyFrame* mpKF1;
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KeyFrame* mpKF2;
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std::vector<Eigen::Vector3f> mvX3Dc1;
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std::vector<Eigen::Vector3f> mvX3Dc2;
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std::vector<MapPoint*> mvpMapPoints1;
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std::vector<MapPoint*> mvpMapPoints2;
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std::vector<MapPoint*> mvpMatches12;
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std::vector<size_t> mvnIndices1;
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std::vector<size_t> mvSigmaSquare1;
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std::vector<size_t> mvSigmaSquare2;
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std::vector<size_t> mvnMaxError1;
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std::vector<size_t> mvnMaxError2;
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int N;
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int mN1;
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// Current Estimation
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Eigen::Matrix3f mR12i;
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Eigen::Vector3f mt12i;
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float ms12i;
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Eigen::Matrix4f mT12i;
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Eigen::Matrix4f mT21i;
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std::vector<bool> mvbInliersi;
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int mnInliersi;
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// Current Ransac State
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int mnIterations;
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std::vector<bool> mvbBestInliers;
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int mnBestInliers;
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Eigen::Matrix4f mBestT12;
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Eigen::Matrix3f mBestRotation;
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Eigen::Vector3f mBestTranslation;
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float mBestScale;
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// Scale is fixed to 1 in the stereo/RGBD case
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bool mbFixScale;
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// Indices for random selection
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std::vector<size_t> mvAllIndices;
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// Projections
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std::vector<Eigen::Vector2f> mvP1im1;
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std::vector<Eigen::Vector2f> mvP2im2;
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// RANSAC probability
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double mRansacProb;
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// RANSAC min inliers
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int mRansacMinInliers;
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// RANSAC max iterations
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int mRansacMaxIts;
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// Threshold inlier/outlier. e = dist(Pi,T_ij*Pj)^2 < 5.991*mSigma2
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float mTh;
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float mSigma2;
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// Calibration
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//cv::Mat mK1;
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//cv::Mat mK2;
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GeometricCamera* pCamera1, *pCamera2;
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};
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} //namespace ORB_SLAM
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#endif // SIM3SOLVER_H
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