106 lines
2.9 KiB
C++
106 lines
2.9 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the 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 this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_MATCHER_H_
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#define SVO_MATCHER_H_
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#include <svo/global.h>
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namespace vk {
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class AbstractCamera;
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}
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namespace svo {
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class Point;
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class Frame;
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class Feature;
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/// Patch-matcher for reprojection-matching and epipolar search in triangulation.
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namespace matcher {
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const int g_halfpatch_size = 4; // do not change, because of sse instructions alignment.
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const int g_patch_size = 8; // do not change, because of sse instructions alignment.
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/// Manages the aligned memory of a patch. Aligned for SIMD instructions.
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struct PatchData
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{
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const int patch_size;
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uint8_t* patch;
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uint8_t* patch_with_border;
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PatchData(int patch_size);
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~PatchData();
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};
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/// Warp a patch from the reference view to the current view.
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namespace warp {
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void getWarpMatrixAffine(
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const vk::AbstractCamera& cam_ref,
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const vk::AbstractCamera& cam_cur,
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const Vector2d& px_ref,
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const Vector3d& f_ref,
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const double depth_ref,
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const SE3& T_cur_ref,
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const int level_ref,
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Matrix2d& A_cur_ref);
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int getBestSearchLevel(
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const Matrix2d& A_cur_ref,
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const int max_level);
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void warpAffine(
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const Matrix2d& A_cur_ref,
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const cv::Mat& img_ref,
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const Vector2d& px_ref,
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const int level_ref,
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const int level_cur,
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PatchData& ref_patch);
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} // namespace warp
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// TODO take function from vikit
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bool depthFromTriangulation(
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const SE3& T_cur_ref,
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const Vector3d& f_ref,
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const Vector3d& f_cur,
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double& depth);
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/// Find a match by directly applying subpix refinement.
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/// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result!
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bool findMatchDirect(
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const Point& pt,
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const Frame& frame,
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Vector2d& px_cur,
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int& level_cur);
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/// Find a match by searching along the epipolar line without using any features.
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bool findEpipolarMatchDirect(
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const Frame& ref_frame,
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const Frame& cur_frame,
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const Feature& ref_ftr,
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const double d_estimate,
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const double d_min,
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const double d_max,
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const bool align_1d,
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double& depth,
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double& h_inv);
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} // namespace matcher
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} // namespace svo
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#endif // SVO_MATCHER_H_
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