forked from logzhan/ORB-SLAM3-UESTC
80 lines
2.9 KiB
C
80 lines
2.9 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 GEOMETRIC_TOOLS_H
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#define GEOMETRIC_TOOLS_H
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#include <opencv2/core/core.hpp>
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#include <sophus/se3.hpp>
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#include <Eigen/Core>
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namespace ORB_SLAM3
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{
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class KeyFrame;
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class GeometricTools
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{
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public:
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EIGEN_MAKE_ALIGNED_OPERATOR_NEW
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// Compute the Fundamental matrix between KF1 and KF2
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static Eigen::Matrix3f ComputeF12(KeyFrame* &pKF1, KeyFrame* &pKF2);
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//Triangulate point with KF1 and KF2
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static bool Triangulate(Eigen::Vector3f &x_c1, Eigen::Vector3f &x_c2,Eigen::Matrix<float,3,4> &Tc1w ,Eigen::Matrix<float,3,4> &Tc2w , Eigen::Vector3f &x3D);
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template<int rows, int cols>
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static bool CheckMatrices(const cv::Mat &cvMat, const Eigen::Matrix<float,rows,cols> &eigMat) {
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const float epsilon = 1e-3;
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// std::cout << cvMat.cols - cols << cvMat.rows - rows << std::endl;
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if(rows != cvMat.rows || cols != cvMat.cols) {
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std::cout << "wrong cvmat size\n";
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return false;
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}
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for(int i = 0; i < rows; i++)
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for(int j = 0; j < cols; j++)
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if ((cvMat.at<float>(i,j) > (eigMat(i,j) + epsilon)) ||
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(cvMat.at<float>(i,j) < (eigMat(i,j) - epsilon))){
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std::cout << "cv mat:\n" << cvMat << std::endl;
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std::cout << "eig mat:\n" << eigMat << std::endl;
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return false;
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}
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return true;
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}
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template<typename T, int rows, int cols>
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static bool CheckMatrices( const Eigen::Matrix<T,rows,cols> &eigMat1, const Eigen::Matrix<T,rows,cols> &eigMat2) {
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const float epsilon = 1e-3;
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for(int i = 0; i < rows; i++)
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for(int j = 0; j < cols; j++)
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if ((eigMat1(i,j) > (eigMat2(i,j) + epsilon)) ||
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(eigMat1(i,j) < (eigMat2(i,j) - epsilon))){
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std::cout << "eig mat 1:\n" << eigMat1 << std::endl;
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std::cout << "eig mat 2:\n" << eigMat2 << std::endl;
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return false;
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}
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return true;
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}
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};
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}// namespace ORB_SLAM
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#endif // GEOMETRIC_TOOLS_H
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