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2021-12-03 03:34:31 -08:00
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--- a/include/TwoViewReconstruction.h
+++ b/include/TwoViewReconstruction.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 TwoViewReconstruction_H
+#define TwoViewReconstruction_H
+
+#include<opencv2/opencv.hpp>
+
+#include <unordered_set>
+
+namespace ORB_SLAM3
+{
+
+class TwoViewReconstruction
+{
+    typedef std::pair<int,int> Match;
+
+public:
+
+    // Fix the reference frame
+    TwoViewReconstruction(cv::Mat& 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,
+                    cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated);
+
+private:
+
+    void FindHomography(std::vector<bool> &vbMatchesInliers, float &score, cv::Mat &H21);
+    void FindFundamental(std::vector<bool> &vbInliers, float &score, cv::Mat &F21);
+
+    cv::Mat ComputeH21(const std::vector<cv::Point2f> &vP1, const std::vector<cv::Point2f> &vP2);
+    cv::Mat ComputeF21(const std::vector<cv::Point2f> &vP1, const std::vector<cv::Point2f> &vP2);
+
+    float CheckHomography(const cv::Mat &H21, const cv::Mat &H12, std::vector<bool> &vbMatchesInliers, float sigma);
+
+    float CheckFundamental(const cv::Mat &F21, std::vector<bool> &vbMatchesInliers, float sigma);
+
+    bool ReconstructF(std::vector<bool> &vbMatchesInliers, cv::Mat &F21, cv::Mat &K,
+                      cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D, std::vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
+
+    bool ReconstructH(std::vector<bool> &vbMatchesInliers, cv::Mat &H21, cv::Mat &K,
+                      cv::Mat &R21, cv::Mat &t21, std::vector<cv::Point3f> &vP3D,std:: vector<bool> &vbTriangulated, float minParallax, int minTriangulated);
+
+    void Triangulate(const cv::KeyPoint &kp1, const cv::KeyPoint &kp2, const cv::Mat &P1, const cv::Mat &P2, cv::Mat &x3D);
+
+    void Normalize(const std::vector<cv::KeyPoint> &vKeys, std::vector<cv::Point2f> &vNormalizedPoints, cv::Mat &T);
+
+
+    int CheckRT(const cv::Mat &R, const cv::Mat &t, const std::vector<cv::KeyPoint> &vKeys1, const std::vector<cv::KeyPoint> &vKeys2,
+                       const std::vector<Match> &vMatches12, std::vector<bool> &vbInliers,
+                       const cv::Mat &K, std::vector<cv::Point3f> &vP3D, float th2, std::vector<bool> &vbGood, float &parallax);
+
+    void DecomposeE(const cv::Mat &E, cv::Mat &R1, cv::Mat &R2, cv::Mat &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
+    cv::Mat 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