ORBSLAM2理论与实战（11） 数据格式互相转化 Convert类

主要参考吴博大神的代码

主要关于Opencv  和 g2o Eigen数据格式的转化

#ifndef CONVERTER_H
#define CONVERTER_H

#include<opencv2/core/core.hpp>

#include<Eigen/Dense>
#include"Thirdparty/g2o/g2o/types/types_six_dof_expmap.h"
#include"Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h"

namespace ORB_SLAM2
{

/**
 * @brief 提供了一些常见的转换
 * 
 * orb中以cv::Mat为基本存储结构，到g2o和Eigen需要一个转换
 * 这些转换都很简单，整个文件可以单独从orbslam里抽出来而不影响其他功能
 */
class Converter
{
public:
    /**
     * @brief 一个描述子矩阵到一串单行的描述子向量
     */
    static std::vector<cv::Mat> toDescriptorVector(const cv::Mat &Descriptors);

    /**
     * @name toSE3Quat
     */
    ///@{
    /** cv::Mat to g2o::SE3Quat */
    static g2o::SE3Quat toSE3Quat(const cv::Mat &cvT);
    /** unimplemented */
    static g2o::SE3Quat toSE3Quat(const g2o::Sim3 &gSim3);
    ///@}

    /**
     * @name toCvMat
     */
    ///@{
    static cv::Mat toCvMat(const g2o::SE3Quat &SE3);
    static cv::Mat toCvMat(const g2o::Sim3 &Sim3);
    static cv::Mat toCvMat(const Eigen::Matrix<double,4,4> &m);
    static cv::Mat toCvMat(const Eigen::Matrix3d &m);
    static cv::Mat toCvMat(const Eigen::Matrix<double,3,1> &m);
    static cv::Mat toCvSE3(const Eigen::Matrix<double,3,3> &R, const Eigen::Matrix<double,3,1> &t);
    ///@}

    /**
     * @name toEigen
     */
    ///@{
    static Eigen::Matrix<double,3,1> toVector3d(const cv::Mat &cvVector);
    static Eigen::Matrix<double,3,1> toVector3d(const cv::Point3f &cvPoint);
    static Eigen::Matrix<double,3,3> toMatrix3d(const cv::Mat &cvMat3);
    static std::vector<float> toQuaternion(const cv::Mat &M);
    ///@}
};

}// namespace ORB_SLAM

#endif // CONVERTER_H

 具体实现，代码比较简单，就是数据上转化一下，适合各种库函数直接处理

/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/


#include "Converter.h"

namespace ORB_SLAM2
{

std::vector<cv::Mat> Converter::toDescriptorVector(const cv::Mat &Descriptors)
{
    std::vector<cv::Mat> vDesc;
    vDesc.reserve(Descriptors.rows);
    for (int j=0;j<Descriptors.rows;j++)
        vDesc.push_back(Descriptors.row(j));

    return vDesc;
}

g2o::SE3Quat Converter::toSE3Quat(const cv::Mat &cvT)
{
    Eigen::Matrix<double,3,3> R;
    R << cvT.at<float>(0,0), cvT.at<float>(0,1), cvT.at<float>(0,2),
         cvT.at<float>(1,0), cvT.at<float>(1,1), cvT.at<float>(1,2),
         cvT.at<float>(2,0), cvT.at<float>(2,1), cvT.at<float>(2,2);

    Eigen::Matrix<double,3,1> t(cvT.at<float>(0,3), cvT.at<float>(1,3), cvT.at<float>(2,3));

    return g2o::SE3Quat(R,t);
}

cv::Mat Converter::toCvMat(const g2o::SE3Quat &SE3)
{
    Eigen::Matrix<double,4,4> eigMat = SE3.to_homogeneous_matrix();
    return toCvMat(eigMat);
}

cv::Mat Converter::toCvMat(const g2o::Sim3 &Sim3)
{
    Eigen::Matrix3d eigR = Sim3.rotation().toRotationMatrix();
    Eigen::Vector3d eigt = Sim3.translation();
    double s = Sim3.scale();
    return toCvSE3(s*eigR,eigt);
}

cv::Mat Converter::toCvMat(const Eigen::Matrix<double,4,4> &m)
{
    cv::Mat cvMat(4,4,CV_32F);
    for(int i=0;i<4;i++)
        for(int j=0; j<4; j++)
            cvMat.at<float>(i,j)=m(i,j);

    return cvMat.clone();
}

cv::Mat Converter::toCvMat(const Eigen::Matrix3d &m)
{
    cv::Mat cvMat(3,3,CV_32F);
    for(int i=0;i<3;i++)
        for(int j=0; j<3; j++)
            cvMat.at<float>(i,j)=m(i,j);

    return cvMat.clone();
}

cv::Mat Converter::toCvMat(const Eigen::Matrix<double,3,1> &m)
{
    cv::Mat cvMat(3,1,CV_32F);
    for(int i=0;i<3;i++)
            cvMat.at<float>(i)=m(i);

    return cvMat.clone();
}

cv::Mat Converter::toCvSE3(const Eigen::Matrix<double,3,3> &R, const Eigen::Matrix<double,3,1> &t)
{
    cv::Mat cvMat = cv::Mat::eye(4,4,CV_32F);
    for(int i=0;i<3;i++)
    {
        for(int j=0;j<3;j++)
        {
            cvMat.at<float>(i,j)=R(i,j);
        }
    }
    for(int i=0;i<3;i++)
    {
        cvMat.at<float>(i,3)=t(i);
    }

    return cvMat.clone();
}

// 将OpenCVS中Mat类型的向量转化为Eigen中Matrix类型的变量
Eigen::Matrix<double,3,1> Converter::toVector3d(const cv::Mat &cvVector)
{
    Eigen::Matrix<double,3,1> v;
    v << cvVector.at<float>(0), cvVector.at<float>(1), cvVector.at<float>(2);

    return v;
}

Eigen::Matrix<double,3,1> Converter::toVector3d(const cv::Point3f &cvPoint)
{
    Eigen::Matrix<double,3,1> v;
    v << cvPoint.x, cvPoint.y, cvPoint.z;

    return v;
}

Eigen::Matrix<double,3,3> Converter::toMatrix3d(const cv::Mat &cvMat3)
{
    Eigen::Matrix<double,3,3> M;

    M << cvMat3.at<float>(0,0), cvMat3.at<float>(0,1), cvMat3.at<float>(0,2),
         cvMat3.at<float>(1,0), cvMat3.at<float>(1,1), cvMat3.at<float>(1,2),
         cvMat3.at<float>(2,0), cvMat3.at<float>(2,1), cvMat3.at<float>(2,2);

    return M;
}

std::vector<float> Converter::toQuaternion(const cv::Mat &M)
{
    Eigen::Matrix<double,3,3> eigMat = toMatrix3d(M);
    Eigen::Quaterniond q(eigMat);

    std::vector<float> v(4);
    v[0] = q.x();
    v[1] = q.y();
    v[2] = q.z();
    v[3] = q.w();

    return v;
}

} //namespace ORB_SLAM