SFM.h

//
// Created by pidan1231239 on 18-6-13.
//

#ifndef SFM_LEARN_SFM_H
#define SFM_LEARN_SFM_H

#include "common_include.h"
#include "Map.h"
#include "Frame.h"
#include <opencv2/opencv.hpp>
#include <opencv2/cvv.hpp>
#include <unordered_map>
#include "BA.h"


namespace sky {

    using namespace cv;

    class SFM {

        Map::Ptr map;
        cv::Ptr<cv::Feature2D> feature2D;
        cv::Ptr<DescriptorMatcher> matcher;

        //相邻关键帧变量
        struct KeyFrame {
        public:
            typedef shared_ptr<KeyFrame> Ptr;
            Frame::Ptr frame;
            Mat image;
            vector<cv::KeyPoint> keyPoints;
            Mat descriptors;
            unordered_map<int, MapPoint::Ptr> inlierPoints;//在descriptors或keyPoints中的序号和对应的地图点

            KeyFrame(const Frame::Ptr &frame, const Mat &image) :
                    frame(frame), image(image) {}
        };

        KeyFrame::Ptr keyFrame1, keyFrame2;

    public:
        SFM(const cv::Ptr<cv::Feature2D> &feature2D,
            const cv::Ptr<DescriptorMatcher> &matcher
        ) :
                feature2D(feature2D),
                matcher(matcher),
                map(new Map) {}

        void addImages(const vector<string> &imagesDir, Camera::Ptr camera);

        ///2D-2D初始化

        //对两张图片提取、匹配、筛选特征点，求解对极约束，三角化
        void init(Mat &image1, Mat &image2, Camera::Ptr camera);

        ///3D-2D求解

        //添加新帧，提取、匹配、筛选和Map的特征点，PnP求解，提取、匹配、筛选和前一帧的特征点，三角化
        void step(Mat &image, const Camera::Ptr &camera);

        ///基本处理

        //加载新帧
        void pushImage(Mat &image, const Camera::Ptr &camera);

        //存储新帧
        void saveFrame();

        //检测特征点，提取描述子
        void detectAndCompute();

        //匹配、筛选特征点
        void matchWithFrameAndFilt(vector<DMatch> &matches);

        //转换齐次坐标点，保存到Map
        void convAndAddMappoints(
                const Mat &inlierMask, const Mat &points4D, const vector<DMatch> &matches);

        //筛选匹配点
        void filtMatches(vector<DMatch> &matches);
    };

}


#endif //SFM_LEARN_SFM_H