107 lines
5.1 KiB
C
107 lines
5.1 KiB
C
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/**
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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 ORBMATCHER_H
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#define ORBMATCHER_H
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#include<vector>
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#include<opencv2/core/core.hpp>
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#include<opencv2/features2d/features2d.hpp>
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#include"sophus/sim3.hpp"
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#include"MapPoint.h"
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#include"KeyFrame.h"
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#include"Frame.h"
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namespace ORB_SLAM3
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{
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class ORBmatcher
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{
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public:
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ORBmatcher(float nnratio=0.6, bool checkOri=true);
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// Computes the Hamming distance between two ORB descriptors
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static int DescriptorDistance(const cv::Mat &a, const cv::Mat &b);
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// Search matches between Frame keypoints and projected MapPoints. Returns number of matches
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// Used to track the local map (Tracking)
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int SearchByProjection(Frame &F, const std::vector<MapPoint*> &vpMapPoints, const float th=3, const bool bFarPoints = false, const float thFarPoints = 50.0f);
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// Project MapPoints tracked in last frame into the current frame and search matches.
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// Used to track from previous frame (Tracking)
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int SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono);
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// Project MapPoints seen in KeyFrame into the Frame and search matches.
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// Used in relocalisation (Tracking)
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int SearchByProjection(Frame &CurrentFrame, KeyFrame* pKF, const std::set<MapPoint*> &sAlreadyFound, const float th, const int ORBdist);
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// Project MapPoints using a Similarity Transformation and search matches.
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// Used in loop detection (Loop Closing)
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int SearchByProjection(KeyFrame* pKF, Sophus::Sim3<float> &Scw, const std::vector<MapPoint*> &vpPoints, std::vector<MapPoint*> &vpMatched, int th, float ratioHamming=1.0);
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// Project MapPoints using a Similarity Transformation and search matches.
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// Used in Place Recognition (Loop Closing and Merging)
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int SearchByProjection(KeyFrame* pKF, Sophus::Sim3<float> &Scw, const std::vector<MapPoint*> &vpPoints, const std::vector<KeyFrame*> &vpPointsKFs, std::vector<MapPoint*> &vpMatched, std::vector<KeyFrame*> &vpMatchedKF, int th, float ratioHamming=1.0);
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// Search matches between MapPoints in a KeyFrame and ORB in a Frame.
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// Brute force constrained to ORB that belong to the same vocabulary node (at a certain level)
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// Used in Relocalisation and Loop Detection
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int SearchByBoW(KeyFrame *pKF, Frame &F, std::vector<MapPoint*> &vpMapPointMatches);
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int SearchByBoW(KeyFrame *pKF1, KeyFrame* pKF2, std::vector<MapPoint*> &vpMatches12);
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// Matching for the Map Initialization (only used in the monocular case)
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int SearchForInitialization(Frame &F1, Frame &F2, std::vector<cv::Point2f> &vbPrevMatched, std::vector<int> &vnMatches12, int windowSize=10);
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// Matching to triangulate new MapPoints. Check Epipolar Constraint.
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int SearchForTriangulation(KeyFrame *pKF1, KeyFrame* pKF2,
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std::vector<pair<size_t, size_t> > &vMatchedPairs, const bool bOnlyStereo, const bool bCoarse = false);
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// Search matches between MapPoints seen in KF1 and KF2 transforming by a Sim3 [s12*R12|t12]
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// In the stereo and RGB-D case, s12=1
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// int SearchBySim3(KeyFrame* pKF1, KeyFrame* pKF2, std::vector<MapPoint *> &vpMatches12, const float &s12, const cv::Mat &R12, const cv::Mat &t12, const float th);
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int SearchBySim3(KeyFrame* pKF1, KeyFrame* pKF2, std::vector<MapPoint *> &vpMatches12, const Sophus::Sim3f &S12, const float th);
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// Project MapPoints into KeyFrame and search for duplicated MapPoints.
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int Fuse(KeyFrame* pKF, const vector<MapPoint *> &vpMapPoints, const float th=3.0, const bool bRight = false);
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// Project MapPoints into KeyFrame using a given Sim3 and search for duplicated MapPoints.
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int Fuse(KeyFrame* pKF, Sophus::Sim3f &Scw, const std::vector<MapPoint*> &vpPoints, float th, vector<MapPoint *> &vpReplacePoint);
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public:
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static const int TH_LOW;
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static const int TH_HIGH;
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static const int HISTO_LENGTH;
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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protected:
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float RadiusByViewingCos(const float &viewCos);
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void ComputeThreeMaxima(std::vector<int>* histo, const int L, int &ind1, int &ind2, int &ind3);
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float mfNNratio;
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bool mbCheckOrientation;
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};
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}// namespace ORB_SLAM
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#endif // ORBMATCHER_H
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