Merge pull request #29331 from agrim-rai/slamVO

[GSOC] Added Visual Odometry (VO) for SLAM

modules/features/include/opencv2/features.hpp

@@ -998,6 +998,19 @@ public:
      */
     CV_WRAP virtual bool isMaskSupported() const = 0;
 
+    /** @brief Provides keypoint and image-size context for matchers that need it (e.g. LightGlueMatcher).
+
+    Must be called before match()/knnMatch()/radiusMatch() for matchers that require this context.
+    Matchers that don't need it (e.g. BFMatcher, FlannBasedMatcher) ignore the call.
+
+    @param queryKpts Query image keypoints.
+    @param trainKpts Train image keypoints.
+    @param queryImageSize Size of the query image (width, height).
+    @param trainImageSize Size of the train image (width, height).
+    */
+    CV_WRAP virtual void setImagePairInfo(const std::vector<KeyPoint>& queryKpts, const std::vector<KeyPoint>& trainKpts,
+                                          Size queryImageSize = Size(), Size trainImageSize = Size());
+
     /** @brief Trains a descriptor matcher
 
     Trains a descriptor matcher (for example, the flann index). In all methods to match, the method
@@ -1349,6 +1362,10 @@ public:
     /** @brief Clears stored pair context information.
     */
     CV_WRAP virtual void clearPairInfo() = 0;
+
+    /** @brief Convenience overload of setPairInfo() taking keypoints directly. */
+    CV_WRAP void setImagePairInfo(const std::vector<KeyPoint>& queryKpts, const std::vector<KeyPoint>& trainKpts,
+                                  Size queryImageSize = Size(), Size trainImageSize = Size()) CV_OVERRIDE;
 };
 
 //! @} features_match

modules/features/src/matchers.cpp

@@ -580,6 +580,10 @@ bool DescriptorMatcher::empty() const
 void DescriptorMatcher::train()
 {}
 
+void DescriptorMatcher::setImagePairInfo( const std::vector<KeyPoint>&, const std::vector<KeyPoint>&,
+                                          Size, Size )
+{}
+
 void DescriptorMatcher::match( InputArray queryDescriptors, InputArray trainDescriptors,
                               std::vector<DMatch>& matches, InputArray mask ) const
 {

modules/features/src/matchers_lightglue.cpp

@@ -15,6 +15,26 @@ namespace cv
 LightGlueMatcher::LightGlueMatcher() {}
 LightGlueMatcher::~LightGlueMatcher() {}
 
+void LightGlueMatcher::setImagePairInfo(const std::vector<KeyPoint>& queryKpts, const std::vector<KeyPoint>& trainKpts,
+                                        Size queryImageSize, Size trainImageSize)
+{
+    Mat qk((int)queryKpts.size(), 2, CV_32F);
+    for (size_t i = 0; i < queryKpts.size(); ++i)
+    {
+        qk.at<float>((int)i, 0) = queryKpts[i].pt.x;
+        qk.at<float>((int)i, 1) = queryKpts[i].pt.y;
+    }
+
+    Mat tk((int)trainKpts.size(), 2, CV_32F);
+    for (size_t i = 0; i < trainKpts.size(); ++i)
+    {
+        tk.at<float>((int)i, 0) = trainKpts[i].pt.x;
+        tk.at<float>((int)i, 1) = trainKpts[i].pt.y;
+    }
+
+    setPairInfo(qk, tk, queryImageSize, trainImageSize);
+}
+
 #ifdef HAVE_OPENCV_DNN
 
 struct LightGluePairContext