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2021-12-03 03:34:31 -08:00
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99
include/CameraModels/GeometricCamera.h Normal file
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/**
* 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 CAMERAMODELS_GEOMETRICCAMERA_H
#define CAMERAMODELS_GEOMETRICCAMERA_H
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <boost/serialization/serialization.hpp>
#include <boost/serialization/access.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/export.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/assume_abstract.hpp>
#include <Eigen/Geometry>
namespace ORB_SLAM3 {
class GeometricCamera {
public:
GeometricCamera() {}
GeometricCamera(const std::vector<float> &_vParameters) : mvParameters(_vParameters) {}
~GeometricCamera() {}
virtual cv::Point2f project(const cv::Point3f &p3D) = 0;
virtual cv::Point2f project(const cv::Matx31f &m3D) = 0;
virtual cv::Point2f project(const cv::Mat& m3D) = 0;
virtual Eigen::Vector2d project(const Eigen::Vector3d & v3D) = 0;
virtual cv::Mat projectMat(const cv::Point3f& p3D) = 0;
virtual float uncertainty2(const Eigen::Matrix<double,2,1> &p2D) = 0;
virtual cv::Point3f unproject(const cv::Point2f &p2D) = 0;
virtual cv::Mat unprojectMat(const cv::Point2f &p2D) = 0;
virtual cv::Matx31f unprojectMat_(const cv::Point2f &p2D) = 0;
virtual cv::Mat projectJac(const cv::Point3f &p3D) = 0;
virtual Eigen::Matrix<double,2,3> projectJac(const Eigen::Vector3d& v3D) = 0;
virtual cv::Mat unprojectJac(const cv::Point2f &p2D) = 0;
virtual bool ReconstructWithTwoViews(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated) = 0;
virtual cv::Mat toK() = 0;
virtual cv::Matx33f toK_() = 0;
virtual bool epipolarConstrain(GeometricCamera* otherCamera, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc) = 0;
virtual bool epipolarConstrain_(GeometricCamera* otherCamera, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc) = 0;
float getParameter(const int i){return mvParameters[i];}
void setParameter(const float p, const size_t i){mvParameters[i] = p;}
size_t size(){return mvParameters.size();}
virtual bool matchAndtriangulate(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, GeometricCamera* pOther,
cv::Mat& Tcw1, cv::Mat& Tcw2,
const float sigmaLevel1, const float sigmaLevel2,
cv::Mat& x3Dtriangulated) = 0;
unsigned int GetId() { return mnId; }
unsigned int GetType() { return mnType; }
const unsigned int CAM_PINHOLE = 0;
const unsigned int CAM_FISHEYE = 1;
static long unsigned int nNextId;
protected:
std::vector<float> mvParameters;
unsigned int mnId;
unsigned int mnType;
};
}
#endif //CAMERAMODELS_GEOMETRICCAMERA_H

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include/CameraModels/KannalaBrandt8.h Normal file
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/**
* 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 CAMERAMODELS_KANNALABRANDT8_H
#define CAMERAMODELS_KANNALABRANDT8_H
#include <assert.h>
#include <vector>
#include <opencv2/core/core.hpp>
#include <boost/serialization/serialization.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/vector.hpp>
#include "GeometricCamera.h"
#include "TwoViewReconstruction.h"
namespace ORB_SLAM3 {
class KannalaBrandt8 final : public GeometricCamera {
public:
KannalaBrandt8() : precision(1e-6) {
mvParameters.resize(8);
mnId=nNextId++;
mnType = CAM_FISHEYE;
}
KannalaBrandt8(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), precision(1e-6), mvLappingArea(2,0) ,tvr(nullptr) {
assert(mvParameters.size() == 8);
mnId=nNextId++;
mnType = CAM_FISHEYE;
}
KannalaBrandt8(const std::vector<float> _vParameters, const float _precision) : GeometricCamera(_vParameters),
precision(_precision), mvLappingArea(2,0) {
assert(mvParameters.size() == 8);
mnId=nNextId++;
mnType = CAM_FISHEYE;
}
KannalaBrandt8(KannalaBrandt8* pKannala) : GeometricCamera(pKannala->mvParameters), precision(pKannala->precision), mvLappingArea(2,0) ,tvr(nullptr) {
assert(mvParameters.size() == 8);
mnId=nNextId++;
mnType = CAM_FISHEYE;
}
cv::Point2f project(const cv::Point3f &p3D);
cv::Point2f project(const cv::Matx31f &m3D);
cv::Point2f project(const cv::Mat& m3D);
Eigen::Vector2d project(const Eigen::Vector3d & v3D);
cv::Mat projectMat(const cv::Point3f& p3D);
float uncertainty2(const Eigen::Matrix<double,2,1> &p2D);
cv::Point3f unproject(const cv::Point2f &p2D);
cv::Mat unprojectMat(const cv::Point2f &p2D);
cv::Matx31f unprojectMat_(const cv::Point2f &p2D);
cv::Mat projectJac(const cv::Point3f &p3D);
Eigen::Matrix<double,2,3> projectJac(const Eigen::Vector3d& v3D);
cv::Mat unprojectJac(const cv::Point2f &p2D);
bool ReconstructWithTwoViews(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
cv::Mat toK();
cv::Matx33f toK_();
bool epipolarConstrain(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc);
bool epipolarConstrain_(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc);
float TriangulateMatches(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc, cv::Mat& p3D);
float TriangulateMatches_(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc, cv::Matx31f& p3D);
std::vector<int> mvLappingArea;
bool matchAndtriangulate(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, GeometricCamera* pOther,
cv::Mat& Tcw1, cv::Mat& Tcw2,
const float sigmaLevel1, const float sigmaLevel2,
cv::Mat& x3Dtriangulated);
friend std::ostream& operator<<(std::ostream& os, const KannalaBrandt8& kb);
friend std::istream& operator>>(std::istream& is, KannalaBrandt8& kb);
private:
const float precision;
//Parameters vector corresponds to
//[fx, fy, cx, cy, k0, k1, k2, k3]
TwoViewReconstruction* tvr;
void Triangulate(const cv::Point2f &p1, const cv::Point2f &p2, const cv::Mat &Tcw1, const cv::Mat &Tcw2,cv::Mat &x3D);
void Triangulate_(const cv::Point2f &p1, const cv::Point2f &p2, const cv::Matx44f &Tcw1, const cv::Matx44f &Tcw2,cv::Matx31f &x3D);
};
}
//BOOST_CLASS_EXPORT_KEY(ORBSLAM2::KannalaBrandt8)
#endif //CAMERAMODELS_KANNALABRANDT8_H

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/**
* 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 CAMERAMODELS_PINHOLE_H
#define CAMERAMODELS_PINHOLE_H
#include <assert.h>
#include <vector>
#include <opencv2/core/core.hpp>
#include <boost/serialization/serialization.hpp>
#include <boost/serialization/base_object.hpp>
#include <boost/serialization/vector.hpp>
#include <boost/serialization/assume_abstract.hpp>
#include "GeometricCamera.h"
#include "TwoViewReconstruction.h"
namespace ORB_SLAM3 {
class Pinhole : public GeometricCamera {
public:
Pinhole() {
mvParameters.resize(4);
mnId=nNextId++;
mnType = CAM_PINHOLE;
}
Pinhole(const std::vector<float> _vParameters) : GeometricCamera(_vParameters), tvr(nullptr) {
assert(mvParameters.size() == 4);
mnId=nNextId++;
mnType = CAM_PINHOLE;
}
Pinhole(Pinhole* pPinhole) : GeometricCamera(pPinhole->mvParameters), tvr(nullptr) {
assert(mvParameters.size() == 4);
mnId=nNextId++;
mnType = CAM_PINHOLE;
}
~Pinhole(){
if(tvr) delete tvr;
}
cv::Point2f project(const cv::Point3f &p3D);
cv::Point2f project(const cv::Matx31f &m3D);
cv::Point2f project(const cv::Mat &m3D);
Eigen::Vector2d project(const Eigen::Vector3d & v3D);
cv::Mat projectMat(const cv::Point3f& p3D);
float uncertainty2(const Eigen::Matrix<double,2,1> &p2D);
cv::Point3f unproject(const cv::Point2f &p2D);
cv::Mat unprojectMat(const cv::Point2f &p2D);
cv::Matx31f unprojectMat_(const cv::Point2f &p2D);
cv::Mat projectJac(const cv::Point3f &p3D);
Eigen::Matrix<double,2,3> projectJac(const Eigen::Vector3d& v3D);
cv::Mat unprojectJac(const cv::Point2f &p2D);
bool ReconstructWithTwoViews(const std::vector<cv::KeyPoint>& vKeys1, const std::vector<cv::KeyPoint>& vKeys2, const std::vector<int> &vMatches12,
cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
cv::Mat toK();
cv::Matx33f toK_();
bool epipolarConstrain(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& R12, const cv::Mat& t12, const float sigmaLevel, const float unc);
bool epipolarConstrain_(GeometricCamera* pCamera2, const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Matx33f& R12, const cv::Matx31f& t12, const float sigmaLevel, const float unc);
bool matchAndtriangulate(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, GeometricCamera* pOther,
cv::Mat& Tcw1, cv::Mat& Tcw2,
const float sigmaLevel1, const float sigmaLevel2,
cv::Mat& x3Dtriangulated) { return false;}
friend std::ostream& operator<<(std::ostream& os, const Pinhole& ph);
friend std::istream& operator>>(std::istream& os, Pinhole& ph);
private:
cv::Mat SkewSymmetricMatrix(const cv::Mat &v);
cv::Matx33f SkewSymmetricMatrix_(const cv::Matx31f &v);
//Parameters vector corresponds to
// [fx, fy, cx, cy]
TwoViewReconstruction* tvr;
};
}
//BOOST_CLASS_EXPORT_KEY(ORBSLAM2::Pinhole)
#endif //CAMERAMODELS_PINHOLE_H