112 lines
6.0 KiB
C++
112 lines
6.0 KiB
C++
/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2020 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 <opencv2/core/core.hpp>
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#include <opencv2/features2d/features2d.hpp>
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#include <vector>
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#include "Frame.h"
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#include "KeyFrame.h"
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#include "MapPoint.h"
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namespace ORB_SLAM3 {
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class ORBmatcher {
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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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//myx :
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//cv::Mat GetEssential(KeyFrame& CurrentKeyFrame, KeyFrame& LastKeyFrame, const float th, const bool bMono, int &numInliers, int &numOutliers ,cv::Mat & R,cv::Mat & t);
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cv::Mat GetFundamental(KeyFrame& CurrentKeyFrame, KeyFrame& LastKeyFrame, const float th, const bool bMono, vector<int> & KeyPointsOutliers, cv::Mat& showFeature);
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void countEpipolarOutliers(KeyFrame& CurrentKeyFrame, KeyFrame& LastKeyFrame, const float th, const bool bMono, cv::Mat & F, double E_threshold, double scale_threshold ,vector<int> & KeyPointsOutliers, cv::Mat & showFeature);
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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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// TODO [Semantic] Remove const label for LastFrame
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int SearchByProjection(Frame& CurrentFrame, Frame& LastFrame, const float th, const bool bMono);
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int SearchByProjection(KeyFrame& CurrentFrame, KeyFrame& 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, cv::Mat 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, cv::Mat 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, cv::Mat F12,
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std::vector<pair<size_t, size_t> >& vMatchedPairs, const bool bOnlyStereo, const bool bCoarse = false);
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int SearchForTriangulation(KeyFrame* pKF1, KeyFrame* pKF2, cv::Mat F12,
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vector<pair<size_t, size_t> >& vMatchedPairs, const bool bOnlyStereo, vector<cv::Mat>& vMatchedPoints);
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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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// 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, cv::Mat 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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protected:
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bool CheckDistEpipolarLine(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& F12, const KeyFrame* pKF, const bool b1 = false);
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bool CheckDistEpipolarLine2(const cv::KeyPoint& kp1, const cv::KeyPoint& kp2, const cv::Mat& F12, const KeyFrame* pKF, const float unc);
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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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