100 lines
4.2 KiB
C
100 lines
4.2 KiB
C
|
/**
|
||
|
|
* This file is part of ORB-SLAM3
|
||
|
|
*
|
||
|
|
* Copyright (C) 2017-2021 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 TwoViewReconstruction_H
|
||
|
|
#define TwoViewReconstruction_H
|
||
|
|
|
||
|
|
#include <opencv2/opencv.hpp>
|
||
|
|
#include <Eigen/Core>
|
||
|
|
#include <unordered_set>
|
||
|
|
|
||
|
|
#include <sophus/se3.hpp>
|
||
|
|
|
||
|
|
namespace ORB_SLAM3
|
||
|
|
{
|
||
|
|
|
||
|
|
class TwoViewReconstruction
|
||
|
|
{
|
||
|
|
typedef std::pair<int,int> Match;
|
||
|
|
|
||
|
|
public:
|
||
|
|
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
|
||
|
|
// Fix the reference frame
|
||
|
|
TwoViewReconstruction(const Eigen::Matrix3f& k, float sigma = 1.0, int iterations = 200);
|
||
|
|
|
||
|
|
// Computes in parallel a fundamental matrix and a homography
|
||
|
|
// Selects a model and tries to recover the motion and the structure from motion
|
||
|
|
bool Reconstruct(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
|
||
|
|
Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
void FindHomography(std::vector<bool> &vbMatchesInliers, float &score, Eigen::Matrix3f &H21);
|
||
|
|
void FindFundamental(std::vector<bool> &vbInliers, float &score, Eigen::Matrix3f &F21);
|
||
|
|
|
||
|
|
Eigen::Matrix3f ComputeH21(const std::vector<cv::Point2f> &vP1, const std::vector<cv::Point2f> &vP2);
|
||
|
|
Eigen::Matrix3f ComputeF21(const std::vector<cv::Point2f> &vP1, const std::vector<cv::Point2f> &vP2);
|
||
|
|
|
||
|
|
float CheckHomography(const Eigen::Matrix3f &H21, const Eigen::Matrix3f &H12, std::vector<bool> &vbMatchesInliers, float sigma);
|
||
|
|
|
||
|
|
float CheckFundamental(const Eigen::Matrix3f &F21, std::vector<bool> &vbMatchesInliers, float sigma);
|
||
|
|
|
||
|
|
bool ReconstructF(std::vector<bool> &vbMatchesInliers, Eigen::Matrix3f &F21, Eigen::Matrix3f &K,
|
||
|
|
Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
|
||
|
|
|
||
|
|
bool ReconstructH(std::vector<bool> &vbMatchesInliers, Eigen::Matrix3f &H21, Eigen::Matrix3f &K,
|
||
|
|
Sophus::SE3f &T21, std::vector<cv::Point3f> &vP3D,std:: vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
|
||
|
|
|
||
|
|
void Normalize(const std::vector<cv::KeyPoint> &vKeys, std::vector<cv::Point2f> &vNormalizedPoints, Eigen::Matrix3f &T);
|
||
|
|
|
||
|
|
|
||
|
|
int CheckRT(const Eigen::Matrix3f &R, const Eigen::Vector3f &t, const std::vector<cv::KeyPoint> &vKeys1, const std::vector<cv::KeyPoint> &vKeys2,
|
||
|
|
const std::vector<Match> &vMatches12, std::vector<bool> &vbMatchesInliers,
|
||
|
|
const Eigen::Matrix3f &K, std::vector<cv::Point3f> &vP3D, float th2, std::vector<bool> &vbGood, float ¶llax);
|
||
|
|
|
||
|
|
void DecomposeE(const Eigen::Matrix3f &E, Eigen::Matrix3f &R1, Eigen::Matrix3f &R2, Eigen::Vector3f &t);
|
||
|
|
|
||
|
|
|
||
|
|
// Keypoints from Reference Frame (Frame 1)
|
||
|
|
std::vector<cv::KeyPoint> mvKeys1;
|
||
|
|
|
||
|
|
// Keypoints from Current Frame (Frame 2)
|
||
|
|
std::vector<cv::KeyPoint> mvKeys2;
|
||
|
|
|
||
|
|
// Current Matches from Reference to Current
|
||
|
|
std::vector<Match> mvMatches12;
|
||
|
|
std::vector<bool> mvbMatched1;
|
||
|
|
|
||
|
|
// Calibration
|
||
|
|
Eigen::Matrix3f mK;
|
||
|
|
|
||
|
|
// Standard Deviation and Variance
|
||
|
|
float mSigma, mSigma2;
|
||
|
|
|
||
|
|
// Ransac max iterations
|
||
|
|
int mMaxIterations;
|
||
|
|
|
||
|
|
// Ransac sets
|
||
|
|
std::vector<std::vector<size_t> > mvSets;
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
} //namespace ORB_SLAM
|
||
|
|
|
||
|
|
#endif // TwoViewReconstruction_H
|