249 lines
8.7 KiB
C++
249 lines
8.7 KiB
C++
/**
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* This file is part of ORB-SLAM2.
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*
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* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
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* For more information see <https://github.com/raulmur/ORB_SLAM2>
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*
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* ORB-SLAM2 is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* 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-SLAM2 is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* 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
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* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef FRAME_H
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#define FRAME_H
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#include <vector>
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#include "MapObject.h"
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#include "MapPoint.h"
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#include "Thirdparty/DBoW2/DBoW2/BowVector.h"
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#include "Thirdparty/DBoW2/DBoW2/FeatureVector.h"
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#include "ORBVocabulary.h"
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#include "KeyFrame.h"
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#include "ORBextractor.h"
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#include <opencv2/opencv.hpp>
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namespace ORB_SLAM2
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{
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#define FRAME_GRID_ROWS 48
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#define FRAME_GRID_COLS 64
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class MapObject;
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class MapPoint;
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class KeyFrame;
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class Frame
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{
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public:
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Frame();
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// Copy constructor.
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Frame(const Frame &frame);
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// Constructor for stereo cameras.
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Frame(const cv::Mat &imLeft, const cv::Mat &imRight, const double &timeStamp, ORBextractor *extractorLeft, ORBextractor *extractorRight, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth);
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// Constructor for RGB-D cameras.
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Frame(const cv::Mat &imGray, // 灰度化之后的彩色图像
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const cv::Mat &imDepth, // 深度图像
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const double &timeStamp, // 时间戳
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ORBextractor *extractor, // ORB特征提取器句柄
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ORBVocabulary *voc, // ORB字典句柄
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cv::Mat &K, // 相机的内参数矩阵
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cv::Mat &distCoef, // 相机的去畸变参数
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const float &bf, // baseline*f
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const float &thDepth); // 区分远近点的深度阈值)
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// RGBD构造，添加模板匹配
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Frame(const cv::Mat &imGray, const cv::Mat &imDepth, const double &timeStamp, ORBextractor *extractor, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth, const vector<vector<double>> &vLabel, cv::Mat &Velocity, bool &state, cv::Mat &Lastframe, float &DepthMapFactor, const cv::Mat &imRGB);
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// Constructor for Monocular cameras.
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Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor *extractor, ORBVocabulary *voc, cv::Mat &K, cv::Mat &distCoef, const float &bf, const float &thDepth);
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// Extract ORB on the image. 0 for left image and 1 for right image.
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void ExtractORB(int flag, const cv::Mat &im);
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// Compute Bag of Words representation.
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void ComputeBoW();
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// Set the camera pose.
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void SetPose(cv::Mat Tcw);
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// Computes rotation, translation and camera center matrices from the camera pose.
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void UpdatePoseMatrices();
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// Returns the camera center.
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inline cv::Mat GetCameraCenter()
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{
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return mOw.clone();
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}
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// Returns inverse of rotation
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inline cv::Mat GetRotationInverse()
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{
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return mRwc.clone();
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}
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// Check if a MapPoint is in the frustum of the camera
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// and fill variables of the MapPoint to be used by the tracking
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bool isInFrustum(MapPoint *pMP, float viewingCosLimit);
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bool isObjInFrustum(MapObject *pMO);
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// Compute the cell of a keypoint (return false if outside the grid)
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bool PosInGrid(const cv::KeyPoint &kp, int &posX, int &posY);
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vector<size_t> GetFeaturesInArea(const float &x, const float &y, const float &r, const int minLevel = -1, const int maxLevel = -1) const;
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// Search a match for each keypoint in the left image to a keypoint in the right image.
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// If there is a match, depth is computed and the right coordinate associated to the left keypoint is stored.
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void ComputeStereoMatches();
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// Associate a "right" coordinate to a keypoint if there is valid depth in the depthmap.
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void ComputeStereoFromRGBD(const cv::Mat &imDepth);
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// Backprojects a keypoint (if stereo/depth info available) into 3D world coordinates.
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cv::Mat UnprojectStereo(const int &i);
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public:
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// Vocabulary used for relocalization.
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ORBVocabulary *mpORBvocabulary;
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// Feature extractor. The right is used only in the stereo case.
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ORBextractor *mpORBextractorLeft, *mpORBextractorRight;
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// Frame timestamp.
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double mTimeStamp;
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// Calibration matrix and OpenCV distortion parameters.
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cv::Mat mK;
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static float fx;
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static float fy;
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static float cx;
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static float cy;
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static float invfx;
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static float invfy;
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cv::Mat mDistCoef;
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// Stereo baseline multiplied by fx.
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float mbf;
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// Stereo baseline in meters.
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float mb;
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// Threshold close/far points. Close points are inserted from 1 view.
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// Far points are inserted as in the monocular case from 2 views.
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float mThDepth;
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// Number of KeyPoints.
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int N;
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// Vector of keypoints (original for visualization) and undistorted (actually used by the system).
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// In the stereo case, mvKeysUn is redundant as images must be rectified.
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// In the RGB-D case, RGB images can be distorted.
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std::vector<cv::KeyPoint> mvKeys, mvKeysRight;
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std::vector<cv::KeyPoint> mvKeysUn;
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// Corresponding stereo coordinate and depth for each keypoint.
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// "Monocular" keypoints have a negative value.
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std::vector<float> mvuRight;
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std::vector<float> mvDepth;
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// Bag of Words Vector structures.
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DBoW2::BowVector mBowVec;
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DBoW2::FeatureVector mFeatVec;
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// ORB descriptor, each row associated to a keypoint.
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cv::Mat mDescriptors, mDescriptorsRight;
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// MapPoints associated to keypoints, NULL pointer if no association.
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std::vector<MapPoint *> mvpMapPoints;
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std::vector<MapObject *> mvpMapObjects;
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// Flag to identify outlier associations.
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std::vector<bool> mvbOutlier;
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std::vector<bool> mvbObjOutlier;
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// Keypoints are assigned to cells in a grid to reduce matching complexity when projecting MapPoints.
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static float mfGridElementWidthInv;
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static float mfGridElementHeightInv;
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std::vector<std::size_t> mGrid[FRAME_GRID_COLS][FRAME_GRID_ROWS];
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// Camera pose.
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cv::Mat mTcw;
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// Current and Next Frame id.
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static long unsigned int nNextId;
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long unsigned int mnId;
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// Reference Keyframe.
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KeyFrame *mpReferenceKF;
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// Scale pyramid info.
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int mnScaleLevels;
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float mfScaleFactor;
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float mfLogScaleFactor;
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vector<float> mvScaleFactors;
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vector<float> mvInvScaleFactors;
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vector<float> mvLevelSigma2;
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vector<float> mvInvLevelSigma2;
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// Undistorted Image Bounds (computed once).
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static float mnMinX;
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static float mnMaxX;
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static float mnMinY;
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static float mnMaxY;
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static bool mbInitialComputations;
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// 添加动态物体label的vector,及每帧的图像 --by钟
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vector<vector<double>> mvvLabel; // cls,x,y,w,h
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vector<vector<double>> mvvDynamic_label;
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cv::Mat mGray; // 灰度图
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cv::Mat mRGB;
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cv::Mat mDepth;
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float mDepthMapFactor;
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// 用于显示红色动态点
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vector<cv::Point2d> vPointRed;
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// 模板匹配计算相似度 --by钟
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static vector<cv::Mat> mvImg1;
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static vector<cv::Mat> mvImD;
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static cv::Mat mImg2;
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static vector<cv::Mat> mvImg1_Tcw;
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static cv::Mat mImg2_Tcw;
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private:
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// Undistort keypoints given OpenCV distortion parameters.
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// Only for the RGB-D case. Stereo must be already rectified!
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// (called in the constructor).
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void UndistortKeyPoints();
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// Computes image bounds for the undistorted image (called in the constructor).
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void ComputeImageBounds(const cv::Mat &imLeft);
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// Assign keypoints to the grid for speed up feature matching (called in the constructor).
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void AssignFeaturesToGrid();
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// Rotation, translation and camera center
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cv::Mat mRcw;
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cv::Mat mtcw;
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cv::Mat mRwc;
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cv::Mat mOw; //==mtwc
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};
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} // namespace ORB_SLAM
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#endif // FRAME_H
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