107 lines
3.9 KiB
C++
107 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) 2017-2020 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 INITIALIZER_H
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#define INITIALIZER_H
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#include<opencv2/opencv.hpp>
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#include "Frame.h"
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#include <unordered_set>
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namespace ORB_SLAM3
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{
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class Map;
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// THIS IS THE INITIALIZER FOR MONOCULAR SLAM. NOT USED IN THE STEREO OR RGBD CASE.
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class Initializer
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{
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typedef pair<int,int> Match;
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public:
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// Fix the reference frame
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Initializer(const Frame &ReferenceFrame, float sigma = 1.0, int iterations = 200);
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// Computes in parallel a fundamental matrix and a homography
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// Selects a model and tries to recover the motion and the structure from motion
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bool Initialize(const Frame &CurrentFrame, const vector<int> &vMatches12, cv::Mat &R21,
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cv::Mat &t21, vector<cv::Point3f> &vP3D, vector<bool> &vbTriangulated);
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private:
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void FindHomography(vector<bool> &vbMatchesInliers, float &score, cv::Mat &H21);
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void FindFundamental(vector<bool> &vbInliers, float &score, cv::Mat &F21);
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cv::Mat ComputeH21(const vector<cv::Point2f> &vP1, const vector<cv::Point2f> &vP2);
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cv::Mat ComputeF21(const vector<cv::Point2f> &vP1, const vector<cv::Point2f> &vP2);
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float CheckHomography(const cv::Mat &H21, const cv::Mat &H12, vector<bool> &vbMatchesInliers, float sigma);
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float CheckFundamental(const cv::Mat &F21, vector<bool> &vbMatchesInliers, float sigma);
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bool ReconstructF(vector<bool> &vbMatchesInliers, cv::Mat &F21, cv::Mat &K,
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cv::Mat &R21, cv::Mat &t21, vector<cv::Point3f> &vP3D, vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
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bool ReconstructH(vector<bool> &vbMatchesInliers, cv::Mat &H21, cv::Mat &K,
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cv::Mat &R21, cv::Mat &t21, vector<cv::Point3f> &vP3D, vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
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void Triangulate(const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &P1, const cv::Mat &P2, cv::Mat &x3D);
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void Normalize(const vector<cv::KeyPoint> &vKeys, vector<cv::Point2f> &vNormalizedPoints, cv::Mat &T);
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// void Normalize(const vector<cv::Point2f> &vKeys, vector<cv::Point2f> &vNormalizedPoints, cv::Mat &T);
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int CheckRT(const cv::Mat &R, const cv::Mat &t, const vector<cv::KeyPoint> &vKeys1, const vector<cv::KeyPoint> &vKeys2,
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const vector<Match> &vMatches12, vector<bool> &vbInliers,
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const cv::Mat &K, vector<cv::Point3f> &vP3D, float th2, vector<bool> &vbGood, float ¶llax);
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void DecomposeE(const cv::Mat &E, cv::Mat &R1, cv::Mat &R2, cv::Mat &t);
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// Keypoints from Reference Frame (Frame 1)
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vector<cv::KeyPoint> mvKeys1;
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// Keypoints from Current Frame (Frame 2)
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vector<cv::KeyPoint> mvKeys2;
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// Current Matches from Reference to Current
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vector<Match> mvMatches12;
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vector<bool> mvbMatched1;
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// Calibration
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cv::Mat mK;
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// Standard Deviation and Variance
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float mSigma, mSigma2;
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// Ransac max iterations
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int mMaxIterations;
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// Ransac sets
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vector<vector<size_t> > mvSets;
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GeometricCamera* mpCamera;
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};
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} //namespace ORB_SLAM
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#endif // INITIALIZER_H
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