100 lines
4.2 KiB
C++
100 lines
4.2 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 TwoViewReconstruction_H
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#define TwoViewReconstruction_H
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#include <opencv2/opencv.hpp>
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#include <Eigen/Core>
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#include <unordered_set>
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#include <sophus/se3.hpp>
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namespace ORB_SLAM3
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{
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class TwoViewReconstruction
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{
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typedef std::pair<int,int> Match;
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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// Fix the reference frame
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TwoViewReconstruction(const Eigen::Matrix3f& k, 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 Reconstruct(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
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Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
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private:
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void FindHomography(std::vector<bool> &vbMatchesInliers, float &score, Eigen::Matrix3f &H21);
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void FindFundamental(std::vector<bool> &vbInliers, float &score, Eigen::Matrix3f &F21);
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Eigen::Matrix3f ComputeH21(const std::vector<cv::Point2f> &vP1, const std::vector<cv::Point2f> &vP2);
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Eigen::Matrix3f ComputeF21(const std::vector<cv::Point2f> &vP1, const std::vector<cv::Point2f> &vP2);
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float CheckHomography(const Eigen::Matrix3f &H21, const Eigen::Matrix3f &H12, std::vector<bool> &vbMatchesInliers, float sigma);
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float CheckFundamental(const Eigen::Matrix3f &F21, std::vector<bool> &vbMatchesInliers, float sigma);
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bool ReconstructF(std::vector<bool> &vbMatchesInliers, Eigen::Matrix3f &F21, Eigen::Matrix3f &K,
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Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
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bool ReconstructH(std::vector<bool> &vbMatchesInliers, Eigen::Matrix3f &H21, Eigen::Matrix3f &K,
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Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D,std:: vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
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void Normalize(const std::vector<cv::KeyPoint> &vKeys, std::vector<cv::Point2f> &vNormalizedPoints, Eigen::Matrix3f &T);
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int CheckRT(const Eigen::Matrix3f &R, const Eigen::Vector3f &t, const std::vector<cv::KeyPoint> &vKeys1, const std::vector<cv::KeyPoint> &vKeys2,
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const std::vector<Match> &vMatches12, std::vector<bool> &vbMatchesInliers,
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const Eigen::Matrix3f &K, std::vector<cv::Point3f> &vP3D, float th2, std::vector<bool> &vbGood, float ¶llax);
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void DecomposeE(const Eigen::Matrix3f &E, Eigen::Matrix3f &R1, Eigen::Matrix3f &R2, Eigen::Vector3f &t);
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// Keypoints from Reference Frame (Frame 1)
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std::vector<cv::KeyPoint> mvKeys1;
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// Keypoints from Current Frame (Frame 2)
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std::vector<cv::KeyPoint> mvKeys2;
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// Current Matches from Reference to Current
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std::vector<Match> mvMatches12;
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std::vector<bool> mvbMatched1;
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// Calibration
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Eigen::Matrix3f 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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std::vector<std::vector<size_t> > mvSets;
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};
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} //namespace ORB_SLAM
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#endif // TwoViewReconstruction_H
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