115 lines
3.3 KiB
C++
115 lines
3.3 KiB
C++
/**
|
|
* 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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef ORBEXTRACTOR_H
|
|
#define ORBEXTRACTOR_H
|
|
|
|
#include <vector>
|
|
#include <list>
|
|
#include <opencv2/opencv.hpp>
|
|
|
|
|
|
namespace ORB_SLAM3
|
|
{
|
|
|
|
class ExtractorNode
|
|
{
|
|
public:
|
|
ExtractorNode():bNoMore(false){}
|
|
|
|
void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4);
|
|
|
|
std::vector<cv::KeyPoint> vKeys;
|
|
cv::Point2i UL, UR, BL, BR;
|
|
std::list<ExtractorNode>::iterator lit;
|
|
bool bNoMore;
|
|
};
|
|
|
|
class ORBextractor
|
|
{
|
|
public:
|
|
|
|
enum {HARRIS_SCORE=0, FAST_SCORE=1 };
|
|
|
|
ORBextractor(int nfeatures, float scaleFactor, int nlevels,
|
|
int iniThFAST, int minThFAST);
|
|
|
|
~ORBextractor(){}
|
|
|
|
// Compute the ORB features and descriptors on an image.
|
|
// ORB are dispersed on the image using an octree.
|
|
// Mask is ignored in the current implementation.
|
|
int operator()( cv::InputArray _image, cv::InputArray _mask,
|
|
std::vector<cv::KeyPoint>& _keypoints,
|
|
cv::OutputArray _descriptors, std::vector<int> &vLappingArea);
|
|
|
|
int inline GetLevels(){
|
|
return nlevels;}
|
|
|
|
float inline GetScaleFactor(){
|
|
return scaleFactor;}
|
|
|
|
std::vector<float> inline GetScaleFactors(){
|
|
return mvScaleFactor;
|
|
}
|
|
|
|
std::vector<float> inline GetInverseScaleFactors(){
|
|
return mvInvScaleFactor;
|
|
}
|
|
|
|
std::vector<float> inline GetScaleSigmaSquares(){
|
|
return mvLevelSigma2;
|
|
}
|
|
|
|
std::vector<float> inline GetInverseScaleSigmaSquares(){
|
|
return mvInvLevelSigma2;
|
|
}
|
|
|
|
std::vector<cv::Mat> mvImagePyramid;
|
|
|
|
protected:
|
|
|
|
void ComputePyramid(cv::Mat image);
|
|
void ComputeKeyPointsOctTree(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);
|
|
std::vector<cv::KeyPoint> DistributeOctTree(const std::vector<cv::KeyPoint>& vToDistributeKeys, const int &minX,
|
|
const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level);
|
|
|
|
void ComputeKeyPointsOld(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);
|
|
std::vector<cv::Point> pattern;
|
|
|
|
int nfeatures;
|
|
double scaleFactor;
|
|
int nlevels;
|
|
int iniThFAST;
|
|
int minThFAST;
|
|
|
|
std::vector<int> mnFeaturesPerLevel;
|
|
|
|
std::vector<int> umax;
|
|
|
|
std::vector<float> mvScaleFactor;
|
|
std::vector<float> mvInvScaleFactor;
|
|
std::vector<float> mvLevelSigma2;
|
|
std::vector<float> mvInvLevelSigma2;
|
|
};
|
|
|
|
} //namespace ORB_SLAM
|
|
|
|
#endif
|
|
|