319 lines
9.1 KiB
C++
Executable File
319 lines
9.1 KiB
C++
Executable File
/**
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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 KEYFRAME_H
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#define KEYFRAME_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 "ORBextractor.h"
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#include "Frame.h"
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#include "KeyFrameDatabase.h"
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#include "Cache.h"
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#include "LightKeyFrame.h"
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#include "LightMapPoint.h"
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#include "SerializeObject.h"
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#include <boost/archive/text_oarchive.hpp>
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#include <boost/archive/text_iarchive.hpp>
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#include <boost/serialization/set.hpp>
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#include <mutex>
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namespace ORB_SLAM2 {
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class Map;
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class MapPoint;
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class Frame;
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class KeyFrameDatabase;
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class Cache;
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class LightKeyFrame;
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class LightMapPoint;
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class KeyFrame {
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private:
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friend class boost::serialization::access;
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//serialize LightKeyFrame class
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template<class Archive>
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void serialize(Archive & ar, const unsigned int version){
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ar & nNextId; ar & mnId; ar & mnFrameId; ar & mTimeStamp; ar & mnGridCols;
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ar & mnGridRows; ar & mfGridElementHeightInv;ar & mfGridElementWidthInv;
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ar & mnTrackReferenceForFrame;ar & mnFuseTargetForKF; ar & mnBALocalForKF;
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ar & mnBAFixedForKF; ar & mnLoopQuery; ar & mnLoopWords; ar & mLoopScore;
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ar & mnRelocQuery; ar & mnRelocWords; ar & mRelocScore;
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ar & mTcwGBA; ar & mTcwBefGBA; ar & mnBAGlobalForKF;
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ar & fx; ar & fy; ar & cx; ar & cy; ar & invfx; ar & invfy; ar & mbf;
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ar & mb; ar & mThDepth; ar & N; ar & mvKeys;
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ar & mvKeysUn; ar & mvuRight;ar & mvDepth; ar & mDescriptors;
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ar & mBowVec;
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ar & mFeatVec;
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ar & mTcp; ar & mnScaleLevels;
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ar & mfScaleFactor; ar & mfLogScaleFactor; ar & mvScaleFactors;
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ar & mvLevelSigma2; ar & mvInvLevelSigma2;
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ar & mnMinX; ar & mnMinY; ar & mnMaxX; ar & mnMaxY; ar & mK;
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ar & Tcw & Twc & Ow & Cw;
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ar & mvpMapPoints;
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ar & mGrid;
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ar & mConnectedKeyFrameWeights & mvpOrderedConnectedKeyFrames;
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ar & mvOrderedWeights;
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ar & mbFirstConnection;
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ar & mpParent;
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ar & mspChildrens & mspLoopEdges;
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ar & mbNotErase & mbToBeErased & mbBad;
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ar & mHalfBaseline;
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};
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public:
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KeyFrame() {}
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KeyFrame(Frame &F, Cache *pCacher);
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// Pose functions
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void SetPose(const cv::Mat &Tcw);
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cv::Mat GetPose();
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cv::Mat GetPoseInverse();
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cv::Mat GetCameraCenter();
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cv::Mat GetStereoCenter();
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cv::Mat GetRotation();
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cv::Mat GetTranslation();
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// Bag of Words Representation
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void ComputeBoW();
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// Covisibility graph functions
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void AddConnection(KeyFrame *pKF, const int &weight);
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void EraseConnection(KeyFrame *pKF);
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void UpdateConnections();
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void UpdateBestCovisibles();
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std::set<KeyFrame *> GetConnectedKeyFrames();
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std::set<LightKeyFrame > GetConnectedLightKeyFrames();
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std::vector<KeyFrame *> GetVectorCovisibleKeyFrames();
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std::vector<KeyFrame *> GetBestCovisibilityKeyFrames(const int &N);
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std::vector<KeyFrame *> GetCovisiblesByWeight(const int &w);
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int GetWeight(KeyFrame *pKF);
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// Spanning tree functions
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void AddChild(KeyFrame *pKF);
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void EraseChild(KeyFrame *pKF);
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void ChangeParent(KeyFrame *pKF);
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std::set<KeyFrame *> GetChilds();
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KeyFrame *GetParent();
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bool hasChild(KeyFrame *pKF);
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// Loop Edges
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void AddLoopEdge(KeyFrame *pKF);
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std::set<KeyFrame *> GetLoopEdges();
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// MapPoint observation functions
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void AddMapPoint(MapPoint *pMP, const size_t &idx);
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void EraseMapPointMatch(const size_t &idx);
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void EraseMapPointMatch(MapPoint *pMP);
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void dropMapPointMatches();
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void ReplaceMapPointMatch(const size_t &idx, MapPoint *pMP);
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std::set<MapPoint *> GetMapPoints();
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std::vector<MapPoint *> GetMapPointMatches();
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int TrackedMapPoints(const int &minObs);
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MapPoint *GetMapPoint(const size_t &idx);
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std::vector<LightMapPoint> GetLightMapPointMatches();
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// KeyPoint functions
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std::vector<size_t> GetFeaturesInArea(const float &x, const float &y, const float &r) const;
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cv::Mat UnprojectStereo(int i);
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// Image
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bool IsInImage(const float &x, const float &y) const;
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// Enable/Disable bad flag changes
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void SetNotErase();
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void SetErase();
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// Set/check bad flag
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void SetBadFlag();
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bool isBad();
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Cache *getCache();
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// Compute Scene Depth (q=2 median). Used in monocular.
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float ComputeSceneMedianDepth(const int q);
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static bool weightComp(int a, int b) {
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return a > b;
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}
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static bool lId(KeyFrame *pKF1, KeyFrame *pKF2) {
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return pKF1->mnId < pKF2->mnId;
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}
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// The following variables are accesed from only 1 thread or never change (no mutex needed).
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public:
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static long unsigned int nNextId;
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long unsigned int mnId;
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long unsigned int mnFrameId;
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double mTimeStamp;
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// Grid (to speed up feature matching)
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int mnGridCols;
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int mnGridRows;
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float mfGridElementWidthInv;
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float mfGridElementHeightInv;
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// Variables used by the tracking
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long unsigned int mnTrackReferenceForFrame;
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long unsigned int mnFuseTargetForKF;
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// Variables used by the local mapping
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long unsigned int mnBALocalForKF;
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long unsigned int mnBAFixedForKF;
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// Variables used by the keyframe database
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long unsigned int mnLoopQuery;
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int mnLoopWords;
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float mLoopScore;
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long unsigned int mnRelocQuery;
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int mnRelocWords;
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float mRelocScore;
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// Variables used by loop closing
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cv::Mat mTcwGBA;
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cv::Mat mTcwBefGBA;
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long unsigned int mnBAGlobalForKF;
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// Calibration parameters
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float fx, fy, cx, cy, invfx, invfy, mbf, mb, mThDepth;
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// Number of KeyPoints
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int N;
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// KeyPoints, stereo coordinate and descriptors (all associated by an index)
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std::vector<cv::KeyPoint> mvKeys;
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std::vector<cv::KeyPoint> mvKeysUn;
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std::vector<float> mvuRight; // negative value for monocular points
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std::vector<float> mvDepth; // negative value for monocular points
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cv::Mat mDescriptors;
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//BoW
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DBoW2::BowVector mBowVec;
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DBoW2::FeatureVector mFeatVec;
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// Pose relative to parent (this is computed when bad flag is activated)
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cv::Mat mTcp;
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// Scale
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int mnScaleLevels;
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float mfScaleFactor;
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float mfLogScaleFactor;
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std::vector<float> mvScaleFactors;
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std::vector<float> mvLevelSigma2;
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std::vector<float> mvInvLevelSigma2;
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// Image bounds and calibration
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int mnMinX;
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int mnMinY;
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int mnMaxX;
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int mnMaxY;
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cv::Mat mK;
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// The following variables need to be accessed trough a mutex to be thread safe.
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protected:
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// SE3 Pose and camera center
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cv::Mat Tcw;
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cv::Mat Twc;
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cv::Mat Ow;
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cv::Mat Cw; // Stereo middel point. Only for visualization
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// MapPoints associated to keypoints
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std::vector<LightMapPoint> mvpMapPoints;
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Cache *mpCacher;
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// Grid over the image to speed up feature matching
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std::vector<std::vector<std::vector<size_t> > > mGrid;
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std::map< LightKeyFrame, int> mConnectedKeyFrameWeights;
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std::vector< LightKeyFrame > mvpOrderedConnectedKeyFrames;
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std::vector< int > mvOrderedWeights;
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// Spanning Tree and Loop Edges
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bool mbFirstConnection;
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LightKeyFrame mpParent;
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std::set< LightKeyFrame > mspChildrens;
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std::set< LightKeyFrame > mspLoopEdges;
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// Bad flags
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bool mbNotErase;
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bool mbToBeErased;
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bool mbBad;
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float mHalfBaseline; // Only for visualization
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std::mutex mMutexPose;
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std::mutex mMutexConnections;
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std::mutex mMutexFeatures;
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};
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} //namespace ORB_SLAM
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#endif // KEYFRAME_H
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