GeometricTools.h

#pragma once
#include <opencv2/core/core.hpp>
#include <OrbSLAM/Thirdparty/Sophus/sophus/se3.hpp>
#include <Eigen/Core>
 
namespace NDEVR
{
    class KeyFrame;
    class GeometricTools
    {
    public:
        EIGEN_MAKE_ALIGNED_OPERATOR_NEW
        static Eigen::Matrix3f ComputeF12(KeyFrame*& pKF1, KeyFrame*& pKF2);

        static bool Triangulate(Eigen::Vector3f& x_c1, Eigen::Vector3f& x_c2, Eigen::Matrix<float, 3, 4>& Tc1w, Eigen::Matrix<float, 3, 4>& Tc2w, Eigen::Vector3f& x3D);

        template<int rows, int cols>
        static bool CheckMatrices(const cv::Mat& cvMat, const Eigen::Matrix<float, rows, cols>& eigMat) {
            const float epsilon = 1e-3;
            // std::cout << cvMat.cols - cols << cvMat.rows - rows << std::endl;
            if (rows != cvMat.rows || cols != cvMat.cols) {
                //std::cout << "wrong cvmat size\n";
                return false;
            }
            for (int i = 0; i < rows; i++)
                for (int j = 0; j < cols; j++)
                    if ((cvMat.at<float>(i, j) > (eigMat(i, j) + epsilon)) ||
                        (cvMat.at<float>(i, j) < (eigMat(i, j) - epsilon))) 
                    {
                        //std::cout << "cv mat:\n" << cvMat << std::endl;
                        //std::cout << "eig mat:\n" << eigMat << std::endl;
                        return false;
                    }
            return true;
        }

        template<typename T, int rows, int cols>
        static bool CheckMatrices(const Eigen::Matrix<T, rows, cols>& eigMat1, const Eigen::Matrix<T, rows, cols>& eigMat2) {
            const float epsilon = 1e-3;
            for (int i = 0; i < rows; i++)
                for (int j = 0; j < cols; j++)
                    if ((eigMat1(i, j) > (eigMat2(i, j) + epsilon)) ||
                        (eigMat1(i, j) < (eigMat2(i, j) - epsilon))) 
                    {
                        //std::cout << "eig mat 1:\n" << eigMat1 << std::endl;
                        //std::cout << "eig mat 2:\n" << eigMat2 << std::endl;
                        return false;
                    }
            return true;
        }
    };
}