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Frame.cc
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/**
* 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/>.
*/
#include "Frame.h"
#include "G2oTypes.h"
#include "MapPoint.h"
#include "KeyFrame.h"
#include "ORBextractor.h"
#include "Converter.h"
#include "ORBmatcher.h"
#include "GeometricCamera.h"
#include <thread>
#include <include/CameraModels/Pinhole.h>
#include <include/CameraModels/KannalaBrandt8.h>
namespace ORB_SLAM3
{
long unsigned int Frame::nNextId=0;
bool Frame::mbInitialComputations=true;
float Frame::cx, Frame::cy, Frame::fx, Frame::fy, Frame::invfx, Frame::invfy;
float Frame::mnMinX, Frame::mnMinY, Frame::mnMaxX, Frame::mnMaxY;
float Frame::mfGridElementWidthInv, Frame::mfGridElementHeightInv;
//For stereo fisheye matching
cv::BFMatcher Frame::BFmatcher = cv::BFMatcher(cv::NORM_HAMMING);
Frame::Frame(): mpcpi(NULL), mpImuPreintegrated(NULL), mpPrevFrame(NULL), mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false), mbHasPose(false), mbHasVelocity(false)
{
#ifdef REGISTER_TIMES
mTimeStereoMatch = 0;
mTimeORB_Ext = 0;
#endif
}
//Copy Constructor
Frame::Frame(const Frame &frame)
:mpcpi(frame.mpcpi),mpORBvocabulary(frame.mpORBvocabulary), mpORBextractorLeft(frame.mpORBextractorLeft), mpORBextractorRight(frame.mpORBextractorRight),
mTimeStamp(frame.mTimeStamp), mK(frame.mK.clone()), mK_(Converter::toMatrix3f(frame.mK)), mDistCoef(frame.mDistCoef.clone()),
mbf(frame.mbf), mb(frame.mb), mThDepth(frame.mThDepth), N(frame.N), mvKeys(frame.mvKeys),
mvKeysRight(frame.mvKeysRight), mvKeysUn(frame.mvKeysUn), mvuRight(frame.mvuRight),
mvDepth(frame.mvDepth), mBowVec(frame.mBowVec), mFeatVec(frame.mFeatVec),
mDescriptors(frame.mDescriptors.clone()), mDescriptorsRight(frame.mDescriptorsRight.clone()),
mvpMapPoints(frame.mvpMapPoints), mvbOutlier(frame.mvbOutlier), mImuCalib(frame.mImuCalib), mnCloseMPs(frame.mnCloseMPs),
mpImuPreintegrated(frame.mpImuPreintegrated), mpImuPreintegratedFrame(frame.mpImuPreintegratedFrame), mImuBias(frame.mImuBias),
mnId(frame.mnId), mpReferenceKF(frame.mpReferenceKF), mnScaleLevels(frame.mnScaleLevels),
mfScaleFactor(frame.mfScaleFactor), mfLogScaleFactor(frame.mfLogScaleFactor),
mvScaleFactors(frame.mvScaleFactors), mvInvScaleFactors(frame.mvInvScaleFactors), mNameFile(frame.mNameFile), mnDataset(frame.mnDataset),
mvLevelSigma2(frame.mvLevelSigma2), mvInvLevelSigma2(frame.mvInvLevelSigma2), mpPrevFrame(frame.mpPrevFrame), mpLastKeyFrame(frame.mpLastKeyFrame),
mbIsSet(frame.mbIsSet), mbImuPreintegrated(frame.mbImuPreintegrated), mpMutexImu(frame.mpMutexImu),
mpCamera(frame.mpCamera), mpCamera2(frame.mpCamera2), Nleft(frame.Nleft), Nright(frame.Nright),
monoLeft(frame.monoLeft), monoRight(frame.monoRight), mvLeftToRightMatch(frame.mvLeftToRightMatch),
mvRightToLeftMatch(frame.mvRightToLeftMatch), mvStereo3Dpoints(frame.mvStereo3Dpoints),
mTlr(frame.mTlr), mRlr(frame.mRlr), mtlr(frame.mtlr), mTrl(frame.mTrl),
mTcw(frame.mTcw), mbHasPose(false), mbHasVelocity(false)
{
for(int i=0;i<FRAME_GRID_COLS;i++)
for(int j=0; j<FRAME_GRID_ROWS; j++){
mGrid[i][j]=frame.mGrid[i][j];
if(frame.Nleft > 0){
mGridRight[i][j] = frame.mGridRight[i][j];
}
}
if(frame.mbHasPose)
SetPose(frame.GetPose());
if(frame.HasVelocity())
{
SetVelocity(frame.GetVelocity());
}
mmProjectPoints = frame.mmProjectPoints;
mmMatchedInImage = frame.mmMatchedInImage;
#ifdef REGISTER_TIMES
mTimeStereoMatch = frame.mTimeStereoMatch;
mTimeORB_Ext = frame.mTimeORB_Ext;
#endif
}
Frame::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, GeometricCamera* pCamera, Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL), mpORBvocabulary(voc),mpORBextractorLeft(extractorLeft),mpORBextractorRight(extractorRight), mTimeStamp(timeStamp), mK(K.clone()), mK_(Converter::toMatrix3f(K)), mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL), mpPrevFrame(pPrevF),mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false),
mpCamera(pCamera) ,mpCamera2(nullptr), mbHasPose(false), mbHasVelocity(false)
{
// Frame ID
mnId=nNextId++;
// Scale Level Info
mnScaleLevels = mpORBextractorLeft->GetLevels();
mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
mfLogScaleFactor = log(mfScaleFactor);
mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();
// ORB extraction
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
thread threadLeft(&Frame::ExtractORB,this,0,imLeft,0,0);
thread threadRight(&Frame::ExtractORB,this,1,imRight,0,0);
threadLeft.join();
threadRight.join();
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndExtORB = std::chrono::steady_clock::now();
mTimeORB_Ext = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndExtORB - time_StartExtORB).count();
#endif
N = mvKeys.size();
if(mvKeys.empty())
return;
UndistortKeyPoints();
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartStereoMatches = std::chrono::steady_clock::now();
#endif
ComputeStereoMatches();
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndStereoMatches = std::chrono::steady_clock::now();
mTimeStereoMatch = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndStereoMatches - time_StartStereoMatches).count();
#endif
mvpMapPoints = vector<MapPoint*>(N,static_cast<MapPoint*>(NULL));
mvbOutlier = vector<bool>(N,false);
mmProjectPoints.clear();
mmMatchedInImage.clear();
// This is done only for the first Frame (or after a change in the calibration)
if(mbInitialComputations)
{
ComputeImageBounds(imLeft);
mfGridElementWidthInv=static_cast<float>(FRAME_GRID_COLS)/(mnMaxX-mnMinX);
mfGridElementHeightInv=static_cast<float>(FRAME_GRID_ROWS)/(mnMaxY-mnMinY);
fx = K.at<float>(0,0);
fy = K.at<float>(1,1);
cx = K.at<float>(0,2);
cy = K.at<float>(1,2);
invfx = 1.0f/fx;
invfy = 1.0f/fy;
mbInitialComputations=false;
}
mb = mbf/fx;
if(pPrevF)
{
if(pPrevF->HasVelocity())
SetVelocity(pPrevF->GetVelocity());
}
else
{
mVw.setZero();
}
mpMutexImu = new std::mutex();
//Set no stereo fisheye information
Nleft = -1;
Nright = -1;
mvLeftToRightMatch = vector<int>(0);
mvRightToLeftMatch = vector<int>(0);
mvStereo3Dpoints = vector<Eigen::Vector3f>(0);
monoLeft = -1;
monoRight = -1;
AssignFeaturesToGrid();
}
Frame::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, GeometricCamera* pCamera,Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL),mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast<ORBextractor*>(NULL)),
mTimeStamp(timeStamp), mK(K.clone()), mK_(Converter::toMatrix3f(K)),mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL), mpPrevFrame(pPrevF), mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false),
mpCamera(pCamera),mpCamera2(nullptr), mbHasPose(false), mbHasVelocity(false)
{
// Frame ID
mnId=nNextId++;
// Scale Level Info
mnScaleLevels = mpORBextractorLeft->GetLevels();
mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
mfLogScaleFactor = log(mfScaleFactor);
mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();
// ORB extraction
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
ExtractORB(0,imGray,0,0);
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndExtORB = std::chrono::steady_clock::now();
mTimeORB_Ext = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndExtORB - time_StartExtORB).count();
#endif
N = mvKeys.size();
if(mvKeys.empty())
return;
UndistortKeyPoints();
ComputeStereoFromRGBD(imDepth);
mvpMapPoints = vector<MapPoint*>(N,static_cast<MapPoint*>(NULL));
mmProjectPoints.clear();
mmMatchedInImage.clear();
mvbOutlier = vector<bool>(N,false);
// This is done only for the first Frame (or after a change in the calibration)
if(mbInitialComputations)
{
ComputeImageBounds(imGray);
mfGridElementWidthInv=static_cast<float>(FRAME_GRID_COLS)/static_cast<float>(mnMaxX-mnMinX);
mfGridElementHeightInv=static_cast<float>(FRAME_GRID_ROWS)/static_cast<float>(mnMaxY-mnMinY);
fx = K.at<float>(0,0);
fy = K.at<float>(1,1);
cx = K.at<float>(0,2);
cy = K.at<float>(1,2);
invfx = 1.0f/fx;
invfy = 1.0f/fy;
mbInitialComputations=false;
}
mb = mbf/fx;
if(pPrevF){
if(pPrevF->HasVelocity())
SetVelocity(pPrevF->GetVelocity());
}
else{
mVw.setZero();
}
mpMutexImu = new std::mutex();
//Set no stereo fisheye information
Nleft = -1;
Nright = -1;
mvLeftToRightMatch = vector<int>(0);
mvRightToLeftMatch = vector<int>(0);
mvStereo3Dpoints = vector<Eigen::Vector3f>(0);
monoLeft = -1;
monoRight = -1;
AssignFeaturesToGrid();
}
Frame::Frame(const cv::Mat &imGray, const double &timeStamp, ORBextractor* extractor,ORBVocabulary* voc, GeometricCamera* pCamera, cv::Mat &distCoef, const float &bf, const float &thDepth, Frame* pPrevF, const IMU::Calib &ImuCalib)
:mpcpi(NULL),mpORBvocabulary(voc),mpORBextractorLeft(extractor),mpORBextractorRight(static_cast<ORBextractor*>(NULL)),
mTimeStamp(timeStamp), mK(static_cast<Pinhole*>(pCamera)->toK()), mK_(static_cast<Pinhole*>(pCamera)->toK_()), mDistCoef(distCoef.clone()), mbf(bf), mThDepth(thDepth),
mImuCalib(ImuCalib), mpImuPreintegrated(NULL),mpPrevFrame(pPrevF),mpImuPreintegratedFrame(NULL), mpReferenceKF(static_cast<KeyFrame*>(NULL)), mbIsSet(false), mbImuPreintegrated(false), mpCamera(pCamera),
mpCamera2(nullptr), mbHasPose(false), mbHasVelocity(false)
{
// Frame ID
mnId=nNextId++;
// Scale Level Info
mnScaleLevels = mpORBextractorLeft->GetLevels();
mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
mfLogScaleFactor = log(mfScaleFactor);
mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
mvInvLevelSigma2 = mpORBextractorLeft->GetInverseScaleSigmaSquares();
// ORB extraction
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_StartExtORB = std::chrono::steady_clock::now();
#endif
ExtractORB(0,imGray,0,1000);
#ifdef REGISTER_TIMES
std::chrono::steady_clock::time_point time_EndExtORB = std::chrono::steady_clock::now();
mTimeORB_Ext = std::chrono::duration_cast<std::chrono::duration<double,std::milli> >(time_EndExtORB - time_StartExtORB).count();
#endif
N = mvKeys.size();
if(mvKeys.empty())
return;
UndistortKeyPoints();
// Set no stereo information
mvuRight = vector<float>(N,-1);
mvDepth = vector<float>(N,-1);
mnCloseMPs = 0;
mvpMapPoints = vector<MapPoint*>(N,static_cast<MapPoint*>(NULL));
mmProjectPoints.clear();// = map<long unsigned int, cv::Point2f>(N, static_cast<cv::Point2f>(NULL));
mmMatchedInImage.clear();
mvbOutlier = vector<bool>(N,false);
// This is done only for the first Frame (or after a change in the calibration)
if(mbInitialComputations)
{
ComputeImageBounds(imGray);
mfGridElementWidthInv=static_cast<float>(FRAME_GRID_COLS)/static_cast<float>(mnMaxX-mnMinX);
mfGridElementHeightInv=static_cast<float>(FRAME_GRID_ROWS)/static_cast<float>(mnMaxY-mnMinY);
fx = static_cast<Pinhole*>(mpCamera)->toK().at<float>(0,0);
fy = static_cast<Pinhole*>(mpCamera)->toK().at<float>(1,1);
cx = static_cast<Pinhole*>(mpCamera)->toK().at<float>(0,2);
cy = static_cast<Pinhole*>(mpCamera)->toK().at<float>(1,2);
invfx = 1.0f/fx;
invfy = 1.0f/fy;
mbInitialComputations=false;
}
mb = mbf/fx;
//Set no stereo fisheye information
Nleft = -1;
Nright = -1;
mvLeftToRightMatch = vector<int>(0);
mvRightToLeftMatch = vector<int>(0);
mvStereo3Dpoints = vector<Eigen::Vector3f>(0);
monoLeft = -1;
monoRight = -1;
AssignFeaturesToGrid();
if(pPrevF)
{
if(pPrevF->HasVelocity())
{
SetVelocity(pPrevF->GetVelocity());
}
}
else
{
mVw.setZero();
}
mpMutexImu = new std::mutex();
}
void Frame::AssignFeaturesToGrid()
{
// Fill matrix with points
const int nCells = FRAME_GRID_COLS*FRAME_GRID_ROWS;
int nReserve = 0.5f*N/(nCells);
for(unsigned int i=0; i<FRAME_GRID_COLS;i++)
for (unsigned int j=0; j<FRAME_GRID_ROWS;j++){
mGrid[i][j].reserve(nReserve);
if(Nleft != -1){
mGridRight[i][j].reserve(nReserve);
}
}
for(int i=0;i<N;i++)
{
const cv::KeyPoint &kp = (Nleft == -1) ? mvKeysUn[i]
: (i < Nleft) ? mvKeys[i]
: mvKeysRight[i - Nleft];
int nGridPosX, nGridPosY;
if(PosInGrid(kp,nGridPosX,nGridPosY)){
if(Nleft == -1 || i < Nleft)
mGrid[nGridPosX][nGridPosY].push_back(i);
else
mGridRight[nGridPosX][nGridPosY].push_back(i - Nleft);
}
}
}
void Frame::ExtractORB(int flag, const cv::Mat &im, const int x0, const int x1)
{
vector<int> vLapping = {x0,x1};
if(flag==0)
monoLeft = (*mpORBextractorLeft)(im,cv::Mat(),mvKeys,mDescriptors,vLapping);
else
monoRight = (*mpORBextractorRight)(im,cv::Mat(),mvKeysRight,mDescriptorsRight,vLapping);
}
bool Frame::isSet() const {
return mbIsSet;
}
void Frame::SetPose(const Sophus::SE3<float> &Tcw) {
mTcw = Tcw;
UpdatePoseMatrices();
mbIsSet = true;
mbHasPose = true;
}
void Frame::SetNewBias(const IMU::Bias &b)
{
mImuBias = b;
if(mpImuPreintegrated)
mpImuPreintegrated->SetNewBias(b);
}
void Frame::SetVelocity(Eigen::Vector3f Vwb)
{
mVw = Vwb;
mbHasVelocity = true;
}
Eigen::Vector3f Frame::GetVelocity() const
{
return mVw;
}
void Frame::SetImuPoseVelocity(const Eigen::Matrix3f &Rwb, const Eigen::Vector3f &twb, const Eigen::Vector3f &Vwb)
{
mVw = Vwb;
mbHasVelocity = true;
Sophus::SE3f Twb(Rwb, twb);
Sophus::SE3f Tbw = Twb.inverse();
mTcw = mImuCalib.mTcb * Tbw;
UpdatePoseMatrices();
mbIsSet = true;
mbHasPose = true;
}
void Frame::UpdatePoseMatrices()
{
Sophus::SE3<float> Twc = mTcw.inverse();
mRwc = Twc.rotationMatrix();
mOw = Twc.translation();
mRcw = mTcw.rotationMatrix();
mtcw = mTcw.translation();
}
Eigen::Matrix<float,3,1> Frame::GetImuPosition() const {
return mRwc * mImuCalib.mTcb.translation() + mOw;
}
Eigen::Matrix<float,3,3> Frame::GetImuRotation() {
return mRwc * mImuCalib.mTcb.rotationMatrix();
}
Sophus::SE3<float> Frame::GetImuPose() {
return mTcw.inverse() * mImuCalib.mTcb;
}
Sophus::SE3f Frame::GetRelativePoseTrl()
{
return mTrl;
}
Sophus::SE3f Frame::GetRelativePoseTlr()
{
return mTlr;
}
Eigen::Matrix3f Frame::GetRelativePoseTlr_rotation(){
return mTlr.rotationMatrix();
}
Eigen::Vector3f Frame::GetRelativePoseTlr_translation() {
return mTlr.translation();
}
bool Frame::isInFrustum(MapPoint *pMP, float viewingCosLimit)
{
if(Nleft == -1){
pMP->mbTrackInView = false;
pMP->mTrackProjX = -1;
pMP->mTrackProjY = -1;
// 3D in absolute coordinates
Eigen::Matrix<float,3,1> P = pMP->GetWorldPos();
// 3D in camera coordinates
const Eigen::Matrix<float,3,1> Pc = mRcw * P + mtcw;
const float Pc_dist = Pc.norm();
// Check positive depth
const float &PcZ = Pc(2);
const float invz = 1.0f/PcZ;
if(PcZ<0.0f)
return false;
const Eigen::Vector2f uv = mpCamera->project(Pc);
if(uv(0)<mnMinX || uv(0)>mnMaxX)
return false;
if(uv(1)<mnMinY || uv(1)>mnMaxY)
return false;
pMP->mTrackProjX = uv(0);
pMP->mTrackProjY = uv(1);
// Check distance is in the scale invariance region of the MapPoint
const float maxDistance = pMP->GetMaxDistanceInvariance();
const float minDistance = pMP->GetMinDistanceInvariance();
const Eigen::Vector3f PO = P - mOw;
const float dist = PO.norm();
if(dist<minDistance || dist>maxDistance)
return false;
// Check viewing angle
Eigen::Vector3f Pn = pMP->GetNormal();
const float viewCos = PO.dot(Pn)/dist;
if(viewCos<viewingCosLimit)
return false;
// Predict scale in the image
const int nPredictedLevel = pMP->PredictScale(dist,this);
// Data used by the tracking
pMP->mbTrackInView = true;
pMP->mTrackProjX = uv(0);
pMP->mTrackProjXR = uv(0) - mbf*invz;
pMP->mTrackDepth = Pc_dist;
pMP->mTrackProjY = uv(1);
pMP->mnTrackScaleLevel= nPredictedLevel;
pMP->mTrackViewCos = viewCos;
return true;
}
else{
pMP->mbTrackInView = false;
pMP->mbTrackInViewR = false;
pMP -> mnTrackScaleLevel = -1;
pMP -> mnTrackScaleLevelR = -1;
pMP->mbTrackInView = isInFrustumChecks(pMP,viewingCosLimit);
pMP->mbTrackInViewR = isInFrustumChecks(pMP,viewingCosLimit,true);
return pMP->mbTrackInView || pMP->mbTrackInViewR;
}
}
bool Frame::ProjectPointDistort(MapPoint* pMP, cv::Point2f &kp, float &u, float &v)
{
// 3D in absolute coordinates
Eigen::Vector3f P = pMP->GetWorldPos();
// 3D in camera coordinates
const Eigen::Vector3f Pc = mRcw * P + mtcw;
const float &PcX = Pc(0);
const float &PcY= Pc(1);
const float &PcZ = Pc(2);
// Check positive depth
if(PcZ<0.0f)
{
cout << "Negative depth: " << PcZ << endl;
return false;
}
// Project in image and check it is not outside
const float invz = 1.0f/PcZ;
u=fx*PcX*invz+cx;
v=fy*PcY*invz+cy;
if(u<mnMinX || u>mnMaxX)
return false;
if(v<mnMinY || v>mnMaxY)
return false;
float u_distort, v_distort;
float x = (u - cx) * invfx;
float y = (v - cy) * invfy;
float r2 = x * x + y * y;
float k1 = mDistCoef.at<float>(0);
float k2 = mDistCoef.at<float>(1);
float p1 = mDistCoef.at<float>(2);
float p2 = mDistCoef.at<float>(3);
float k3 = 0;
if(mDistCoef.total() == 5)
{
k3 = mDistCoef.at<float>(4);
}
// Radial distorsion
float x_distort = x * (1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2);
float y_distort = y * (1 + k1 * r2 + k2 * r2 * r2 + k3 * r2 * r2 * r2);
// Tangential distorsion
x_distort = x_distort + (2 * p1 * x * y + p2 * (r2 + 2 * x * x));
y_distort = y_distort + (p1 * (r2 + 2 * y * y) + 2 * p2 * x * y);
u_distort = x_distort * fx + cx;
v_distort = y_distort * fy + cy;
u = u_distort;
v = v_distort;
kp = cv::Point2f(u, v);
return true;
}
Eigen::Vector3f Frame::inRefCoordinates(Eigen::Vector3f pCw)
{
return mRcw * pCw + mtcw;
}
vector<size_t> Frame::GetFeaturesInArea(const float &x, const float &y, const float &r, const int minLevel, const int maxLevel, const bool bRight) const
{
vector<size_t> vIndices;
vIndices.reserve(N);
float factorX = r;
float factorY = r;
const int nMinCellX = max(0,(int)floor((x-mnMinX-factorX)*mfGridElementWidthInv));
if(nMinCellX>=FRAME_GRID_COLS)
{
return vIndices;
}
const int nMaxCellX = min((int)FRAME_GRID_COLS-1,(int)ceil((x-mnMinX+factorX)*mfGridElementWidthInv));
if(nMaxCellX<0)
{
return vIndices;
}
const int nMinCellY = max(0,(int)floor((y-mnMinY-factorY)*mfGridElementHeightInv));
if(nMinCellY>=FRAME_GRID_ROWS)
{
return vIndices;
}
const int nMaxCellY = min((int)FRAME_GRID_ROWS-1,(int)ceil((y-mnMinY+factorY)*mfGridElementHeightInv));
if(nMaxCellY<0)
{
return vIndices;
}
const bool bCheckLevels = (minLevel>0) || (maxLevel>=0);
for(int ix = nMinCellX; ix<=nMaxCellX; ix++)
{
for(int iy = nMinCellY; iy<=nMaxCellY; iy++)
{
const vector<size_t> vCell = (!bRight) ? mGrid[ix][iy] : mGridRight[ix][iy];
if(vCell.empty())
continue;
for(size_t j=0, jend=vCell.size(); j<jend; j++)
{
const cv::KeyPoint &kpUn = (Nleft == -1) ? mvKeysUn[vCell[j]]
: (!bRight) ? mvKeys[vCell[j]]
: mvKeysRight[vCell[j]];
if(bCheckLevels)
{
if(kpUn.octave<minLevel)
continue;
if(maxLevel>=0)
if(kpUn.octave>maxLevel)
continue;
}
const float distx = kpUn.pt.x-x;
const float disty = kpUn.pt.y-y;
if(fabs(distx)<factorX && fabs(disty)<factorY)
vIndices.push_back(vCell[j]);
}
}
}
return vIndices;
}
bool Frame::PosInGrid(const cv::KeyPoint &kp, int &posX, int &posY)
{
posX = round((kp.pt.x-mnMinX)*mfGridElementWidthInv);
posY = round((kp.pt.y-mnMinY)*mfGridElementHeightInv);
//Keypoint's coordinates are undistorted, which could cause to go out of the image
if(posX<0 || posX>=FRAME_GRID_COLS || posY<0 || posY>=FRAME_GRID_ROWS)
return false;
return true;
}
void Frame::ComputeBoW()
{
if(mBowVec.empty())
{
vector<cv::Mat> vCurrentDesc = Converter::toDescriptorVector(mDescriptors);
mpORBvocabulary->transform(vCurrentDesc,mBowVec,mFeatVec,4);
}
}
void Frame::UndistortKeyPoints()
{
if(mDistCoef.at<float>(0)==0.0)
{
mvKeysUn=mvKeys;
return;
}
// Fill matrix with points
cv::Mat mat(N,2,CV_32F);
for(int i=0; i<N; i++)
{
mat.at<float>(i,0)=mvKeys[i].pt.x;
mat.at<float>(i,1)=mvKeys[i].pt.y;
}
// Undistort points
mat=mat.reshape(2);
cv::undistortPoints(mat,mat, static_cast<Pinhole*>(mpCamera)->toK(),mDistCoef,cv::Mat(),mK);
mat=mat.reshape(1);
// Fill undistorted keypoint vector
mvKeysUn.resize(N);
for(int i=0; i<N; i++)
{
cv::KeyPoint kp = mvKeys[i];
kp.pt.x=mat.at<float>(i,0);
kp.pt.y=mat.at<float>(i,1);
mvKeysUn[i]=kp;
}
}
void Frame::ComputeImageBounds(const cv::Mat &imLeft)
{
if(mDistCoef.at<float>(0)!=0.0)
{
cv::Mat mat(4,2,CV_32F);
mat.at<float>(0,0)=0.0; mat.at<float>(0,1)=0.0;
mat.at<float>(1,0)=imLeft.cols; mat.at<float>(1,1)=0.0;
mat.at<float>(2,0)=0.0; mat.at<float>(2,1)=imLeft.rows;
mat.at<float>(3,0)=imLeft.cols; mat.at<float>(3,1)=imLeft.rows;
mat=mat.reshape(2);
cv::undistortPoints(mat,mat,static_cast<Pinhole*>(mpCamera)->toK(),mDistCoef,cv::Mat(),mK);
mat=mat.reshape(1);
// Undistort corners
mnMinX = min(mat.at<float>(0,0),mat.at<float>(2,0));
mnMaxX = max(mat.at<float>(1,0),mat.at<float>(3,0));
mnMinY = min(mat.at<float>(0,1),mat.at<float>(1,1));
mnMaxY = max(mat.at<float>(2,1),mat.at<float>(3,1));
}
else
{
mnMinX = 0.0f;
mnMaxX = imLeft.cols;
mnMinY = 0.0f;
mnMaxY = imLeft.rows;
}
}
void Frame::ComputeStereoMatches()
{
mvuRight = vector<float>(N,-1.0f);
mvDepth = vector<float>(N,-1.0f);
const int thOrbDist = (ORBmatcher::TH_HIGH+ORBmatcher::TH_LOW)/2;
const int nRows = mpORBextractorLeft->mvImagePyramid[0].rows;
//Assign keypoints to row table
vector<vector<size_t> > vRowIndices(nRows,vector<size_t>());
for(int i=0; i<nRows; i++)
vRowIndices[i].reserve(200);
const int Nr = mvKeysRight.size();
for(int iR=0; iR<Nr; iR++)
{
const cv::KeyPoint &kp = mvKeysRight[iR];
const float &kpY = kp.pt.y;
const float r = 2.0f*mvScaleFactors[mvKeysRight[iR].octave];
const int maxr = ceil(kpY+r);
const int minr = floor(kpY-r);
for(int yi=minr;yi<=maxr;yi++)
vRowIndices[yi].push_back(iR);
}
// Set limits for search
const float minZ = mb;
const float minD = 0;
const float maxD = mbf/minZ;
// For each left keypoint search a match in the right image
vector<pair<int, int> > vDistIdx;
vDistIdx.reserve(N);
for(int iL=0; iL<N; iL++)
{
const cv::KeyPoint &kpL = mvKeys[iL];
const int &levelL = kpL.octave;
const float &vL = kpL.pt.y;
const float &uL = kpL.pt.x;
const vector<size_t> &vCandidates = vRowIndices[vL];
if(vCandidates.empty())
continue;
const float minU = uL-maxD;
const float maxU = uL-minD;
if(maxU<0)
continue;
int bestDist = ORBmatcher::TH_HIGH;
size_t bestIdxR = 0;
const cv::Mat &dL = mDescriptors.row(iL);
// Compare descriptor to right keypoints
for(size_t iC=0; iC<vCandidates.size(); iC++)
{
const size_t iR = vCandidates[iC];
const cv::KeyPoint &kpR = mvKeysRight[iR];
if(kpR.octave<levelL-1 || kpR.octave>levelL+1)
continue;
const float &uR = kpR.pt.x;
if(uR>=minU && uR<=maxU)
{
const cv::Mat &dR = mDescriptorsRight.row(iR);
const int dist = ORBmatcher::DescriptorDistance(dL,dR);
if(dist<bestDist)
{
bestDist = dist;
bestIdxR = iR;
}
}
}
// Subpixel match by correlation
if(bestDist<thOrbDist)
{
// coordinates in image pyramid at keypoint scale
const float uR0 = mvKeysRight[bestIdxR].pt.x;
const float scaleFactor = mvInvScaleFactors[kpL.octave];
const float scaleduL = round(kpL.pt.x*scaleFactor);
const float scaledvL = round(kpL.pt.y*scaleFactor);
const float scaleduR0 = round(uR0*scaleFactor);
// sliding window search
const int w = 5;
cv::Mat IL = mpORBextractorLeft->mvImagePyramid[kpL.octave].rowRange(scaledvL-w,scaledvL+w+1).colRange(scaleduL-w,scaleduL+w+1);
int bestDist = INT_MAX;
int bestincR = 0;
const int L = 5;
vector<float> vDists;
vDists.resize(2*L+1);
const float iniu = scaleduR0+L-w;
const float endu = scaleduR0+L+w+1;
if(iniu<0 || endu >= mpORBextractorRight->mvImagePyramid[kpL.octave].cols)
continue;
for(int incR=-L; incR<=+L; incR++)
{
cv::Mat IR = mpORBextractorRight->mvImagePyramid[kpL.octave].rowRange(scaledvL-w,scaledvL+w+1).colRange(scaleduR0+incR-w,scaleduR0+incR+w+1);
float dist = cv::norm(IL,IR,cv::NORM_L1);
if(dist<bestDist)
{
bestDist = dist;
bestincR = incR;
}
vDists[L+incR] = dist;
}
if(bestincR==-L || bestincR==L)
continue;
// Sub-pixel match (Parabola fitting)
const float dist1 = vDists[L+bestincR-1];
const float dist2 = vDists[L+bestincR];
const float dist3 = vDists[L+bestincR+1];
const float deltaR = (dist1-dist3)/(2.0f*(dist1+dist3-2.0f*dist2));
if(deltaR<-1 || deltaR>1)
continue;
// Re-scaled coordinate
float bestuR = mvScaleFactors[kpL.octave]*((float)scaleduR0+(float)bestincR+deltaR);
float disparity = (uL-bestuR);
if(disparity>=minD && disparity<maxD)
{
if(disparity<=0)
{
disparity=0.01;
bestuR = uL-0.01;
}
mvDepth[iL]=mbf/disparity;
mvuRight[iL] = bestuR;
vDistIdx.push_back(pair<int,int>(bestDist,iL));
}
}
}
sort(vDistIdx.begin(),vDistIdx.end());
const float median = vDistIdx[vDistIdx.size()/2].first;
const float thDist = 1.5f*1.4f*median;
for(int i=vDistIdx.size()-1;i>=0;i--)
{
if(vDistIdx[i].first<thDist)
break;
else
{
mvuRight[vDistIdx[i].second]=-1;
mvDepth[vDistIdx[i].second]=-1;
}
}
}
void Frame::ComputeStereoFromRGBD(const cv::Mat &imDepth)
{
mvuRight = vector<float>(N,-1);
mvDepth = vector<float>(N,-1);
for(int i=0; i<N; i++)
{
const cv::KeyPoint &kp = mvKeys[i];
const cv::KeyPoint &kpU = mvKeysUn[i];
const float &v = kp.pt.y;
const float &u = kp.pt.x;
const float d = imDepth.at<float>(v,u);
if(d>0)
{