需要安装opencv3中的features2d模块
// 来自高翔SLAM十四讲
#include<iostream>
#include<opencv2/core/core.hpp>
#include<opencv2/features2d/features2d.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/calib3d/calib3d.hpp>
using namespace std;
using namespace cv;
void find_feature_matches(
const Mat& img_1, const Mat& img_2,
std::vector<KeyPoint>& keypoints_1,
std::vector<KeyPoint>& keypoints_2,
std::vector<DMatch>& matches);
void pose_estimation_2d2d(
std::vector<KeyPoint> keypoints_1,
std::vector<KeyPoint> keypoints_2,
std::vector<DMatch> matches,
Mat& R, Mat& t);
// 像素坐标转相机归一化坐标
Point2d pixel2cam(const Point2d& p, const Mat& K);
// 三角测量
void triangulation(
const vector<KeyPoint>& keypoint_1,
const vector<KeyPoint>& keypoint_2,
const std::vector<DMatch>& matches,
const Mat& R, const Mat& t,
vector<Point3d>& points
);
int main(){
// 读取图像
Mat img_1 = imread("1.png",CV_LOAD_IMAGE_COLOR);
Mat img_2 = imread("2.png", CV_LOAD_IMAGE_COLOR);
vector<KeyPoint>keypoints_1, keypoints_2;
vector<DMatch> matches;
find_feature_matches(img_1, img_2, keypoints_1, keypoints_2, matches);
cout<<"一共找到了"<<matches.size()<<"组匹配点"<<endl;
// 估计两张图像之间的运动
Mat R, t;
pose_estimation_2d2d(keypoints_1, keypoints_2, matches, R, t);
// 三角化
vector<Point3d> points;
triangulation(keypoints_1, keypoints_2, matches, R, t, points);
// 验证三角化点与特征点的重影关系
Mat K = (Mat_<double>(3,3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);
for(int i=0; i<matches.size(); i++){
Point2d pt1_cam = pixel2cam(keypoints_1[matches[i].queryIdx].pt, K);
Point2d pt1_cam_3d(
points[i].x / points[i].z,
points[i].y/ points[i].z
);
cout<<"point in the first camera frame : "<<pt1_cam<<endl;
cout<<"point projected from 3D "<<pt1_cam_3d<<", d="<<points[i].z<<endl;
// 第二个图
Point2f pt2_cam = pixel2cam(keypoints_2[matches[i].trainIdx].pt, K);
Mat pt2_trans = R * (Mat_<double>(3,1) << points[i].x, points[i].y, points[i].z) + t;
pt2_trans /= pt2_trans.at<double>(2,0);
cout<<"point in the second camera frame : "<<pt2_cam<<endl;
cout<<"point reprohected from second frame : "<<pt2_trans.t()<<endl;
cout<<endl;
}
return 0;
}
// 找到匹配的特征点
void find_feature_matches(const Mat& img_1, const Mat& img_2,
std::vector<KeyPoint>& keypoints_1,
std::vector<KeyPoint>& keypoints_2,
std::vector<DMatch>& matches){
// 初始化
Mat descriptors_1, descriptors_2;
Ptr<FeatureDetector>detector = ORB::create();
Ptr<DescriptorExtractor>descriptor = ORB::create();
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming"); // 暴力匹配
// 第一步:检测Oriented FAST角点位置
detector->detect(img_1, keypoints_1);
detector->detect(img_2, keypoints_2);
// 第二步: 根据角点位置计算BRIEF描述子
descriptor->compute(img_1, keypoints_1, descriptors_1);
descriptor->compute(img_2, keypoints_2, descriptors_2);
// 第三步:对两幅图像中的BRIEF描述子进行匹配,使用汉明距离
vector<DMatch> match;
matcher->match(descriptors_1, descriptors_2, match);
// 第四步:对匹配点对进行筛选
double min_dist = 10000, max_dist = 0;
// 找出所有匹配之间的最小距离和最大距离
// 即是最相似和最不相似的两组点之间的距离
for(int i=0; i<descriptors_1.rows; i++){
double dist = match[i].distance;
min_dist = min_dist<dist?min_dist:dist;
max_dist = max_dist>dist?max_dist:dist;
}
printf("--Max dist : %f\n", max_dist);
printf("--Min dist : %f \n", min_dist);
// 当描述子之间的距离大于两倍的最小距离时,即认为匹配有误
// 设置30为阈值
for(int i=0; i<descriptors_1.rows; i++){
if(match[i].distance <= max(2*min_dist, 30.0)){
matches.push_back(match[i]);
}
}
}
Point2d pixel2cam(const Point2d& p, const Mat& K){
return Point2d(
(p.x - K.at<double>(0,2))/K.at<double>(0,0),
(p.y - K.at<double>(1,2))/K.at<double>(1,1)
);
}
void pose_estimation_2d2d(std::vector<KeyPoint>keypoints_1,
std::vector<KeyPoint>keypoints_2,
std::vector<DMatch>matches,
Mat&R ,Mat& t){
// 相机内参,TUM Feriburg2
Mat K = (Mat_<double>(3,3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);
// 把匹配点转化为vector<Point2f>的形式
vector<Point2f>points1;
vector<Point2f>points2;
for(int i=0; i<(int)matches.size(); i++){
points1.push_back(keypoints_1[matches[i].queryIdx].pt);
points2.push_back(keypoints_2[matches[i].trainIdx].pt);
}
// 计算基础矩阵:使用的8点法,但是书上说8点法是用来计算本质矩阵的呀,这两个有什么关系吗
Mat fundamental_matrix;
fundamental_matrix = findFundamentalMat(points1, points2, CV_FM_8POINT);
cout<<"fundamental_matrix is "<<endl<<fundamental_matrix<<endl;
// 计算本质矩阵:是由对极约束定义的:对极约束是等式为零的约束
Point2d principal_point(325.1, 249.7); // 相机光心,TUM dataset标定值
double focal_length = 521; // 相机焦距,TUM dataset标定值
Mat essential_matrix;
essential_matrix = findEssentialMat(points1, points2, focal_length, principal_point);
cout<<"essential_matrix is "<<endl<<essential_matrix<<endl;
// 计算单应矩阵:通常描述处于共同平面上的一些点在两张图像之间的变换关系
Mat homography_matrix;
homography_matrix = findHomography(points1, points2, RANSAC, 3);
cout<<"homography_matrix is "<<endl<<homography_matrix<<endl;
// 从不本质矩阵中恢复旋转和平移信息
// 这里的R,t组成的变换矩阵,满足的对极约束是:x2 = R * x1 + t,是第一个图到第二个图的坐标变换矩阵x2 = T21 * x1
recoverPose(essential_matrix, points1, points2, R, t, focal_length, principal_point);
cout<<"R is "<<endl<<R<<endl;
cout<<"t is "<<endl<<t<<endl;
}
void triangulation(
const vector<KeyPoint>& keypoint_1,
const vector<KeyPoint>& keypoint_2,
const std::vector<DMatch>& matches,
const Mat& R, const Mat& t,
vector<Point3d>& points){
Mat T1 = (Mat_<float>(3,4) <<
1, 0, 0, 0,
0, 1, 0, 0,
0, 0, 1, 0);
Mat T2 = (Mat_<float>(3,4) <<
R.at<double>(0,0), R.at<double>(0,1), R.at<double>(0,2), t.at<double>(0,0),
R.at<double>(1,0), R.at<double>(1,1), R.at<double>(1,2), t.at<double>(1,0),
R.at<double>(2,0), R.at<double>(2,1), R.at<double>(2,2), t.at<double>(2,0)
);
Mat K = (Mat_<double>(3,3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);
vector<Point2f> pts_1, pts_2;
for(DMatch m:matches){
// 将像素坐标转换至相机坐标
pts_1.push_back(pixel2cam(keypoint_1[m.queryIdx].pt, K));
pts_2.push_back(pixel2cam(keypoint_2[m.trainIdx].pt, K));
}
Mat pts_4d;
cv::triangulatePoints(T1, T2, pts_1, pts_2, pts_4d);
// 转换成非齐次坐标
for(int i=0; i<pts_4d.cols; i++){
Mat x = pts_4d.col(i);
x /= x.at<float>(3,0); // 归一化
Point3d p(
x.at<float>(0,0),
x.at<float>(1,0),
x.at<float>(2,0)
);
points.push_back(p);
}
}