rpg_vikit/vikit_common/include/vikit/homography.h at 2b69aa528f39e31e4683369c7b5d7b45b8deb120 · uzh-rpg/rpg_vikit · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
/*
 * homography.cpp
 * Adaptation of PTAM-GPL HomographyInit class.
 * https://github.com/Oxford-PTAM/PTAM-GPL
 * Licence: GPLv3
 * Copyright 2008 Isis Innovation Limited
 *
 *  Created on: Sep 2, 2012
 *      by: cforster
 *
 * This class implements the homography decomposition of Faugeras and Lustman's
 * 1988 tech report. Code converted to Eigen from PTAM.
 *
 */

#ifndef HOMOGRAPHY_H_
#define HOMOGRAPHY_H_

#include <Eigen/Core>
#include <Eigen/StdVector>
#include <Eigen/SVD>
#include <vikit/math_utils.h>

namespace vk {

using namespace Eigen;
using namespace std;

struct HomographyDecomposition
{
  Vector3d t;
  Matrix3d R;
  double   d;
  Vector3d n;

  // Resolved  Composition
  Sophus::SE3d T; //!< second from first
  int score;
};

class Homography
{
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  Homography            (const vector<Vector2d, aligned_allocator<Vector2d> >& _fts1,
                         const vector<Vector2d, aligned_allocator<Vector2d> >& _fts2,
                         double _error_multiplier2,
                         double _thresh_in_px);

  void
  calcFromPlaneParams   (const Vector3d & normal,
                         const Vector3d & point_on_plane);

  void
  calcFromMatches       ();

  size_t
  computeMatchesInliers ();

  bool
  computeSE3fromMatches ();

  bool
  decompose             ();

  void
  findBestDecomposition ();

  double thresh;
  double error_multiplier2;
  const vector<Vector2d, aligned_allocator<Vector2d> >& fts_c1; //!< Features on first image on unit plane
  const vector<Vector2d, aligned_allocator<Vector2d> >& fts_c2; //!< Features on second image on unit plane
  vector<bool> inliers;
  SE3d T_c2_from_c1;             //!< Relative translation and rotation of two images
  Matrix3d H_c2_from_c1;                   //!< Homography
  vector<HomographyDecomposition> decompositions;
};


} /* end namespace vk */

#endif /* HOMOGRAPHY_H_ */