需要安装opencv3并且编译了features模块
#include<iostream>
#include<opencv2/core/core.hpp>
#include<opencv2/features2d/features2d.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/calib3d/calib3d.hpp>
#include<Eigen/Core>
#include<Eigen/Geometry>
#include<g2o/core/base_vertex.h>
#include<g2o/core/base_unary_edge.h>
#include<g2o/core/block_solver.h>
#include<g2o/core/optimization_algorithm_levenberg.h>
// 这里会在/usr/local/include/g2o/solvers/csparse/csparse_extension.h报错
// 修改文件中的 #include <cs.h> 为 #include<suitesparse/cs.h>
#include<g2o/solvers/csparse/linear_solver_csparse.h>
#include<g2o/types/sba/types_six_dof_expmap.h>
#include<chrono>
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);
// 像素坐标转相机归一化坐标
Point2d pixel2cam(const Point2d& p, const Mat& K);
// BA
void bundleAdjustment(
const vector<Point3f> points_3d,
const vector<Point2f> points_2d,
const Mat& K, Mat& R, Mat& t
);
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"<<matches.size()<<"组匹配点"<<endl;
// 建立3D点
Mat d1 = imread("1_depth.png", CV_LOAD_IMAGE_UNCHANGED); // 16位无符号数,单通道
Mat K = (Mat_<double>(3,3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );
vector<Point3f>pts_3d;
vector<Point2f> pts_2d;
for(DMatch m:matches){
ushort d = d1.ptr<unsigned short>(int(keypoints_1[m.queryIdx].pt.y))[int(keypoints_1[m.queryIdx].pt.x)];
if(d == 0) // bad depth
continue;
float dd = d/5000.0;
Point2d p1 = pixel2cam(keypoints_1[m.queryIdx].pt, K);
pts_3d.push_back(Point3f(p1.x * dd, p1.y * dd, dd));
pts_2d.push_back(keypoints_2[m.trainIdx].pt);
}
cout<<"3d-2d pairs : "<<pts_3d.size()<<endl;
Mat r, t;
solvePnP(pts_3d, pts_2d, K, Mat(), r, t, false); // 调用opencv的pnp求解,可选择epnp,dls等方法
Mat R;
cv::Rodrigues(r, R); // r为旋转向量形式,用Rodrigues公式转换为矩阵(罗德里格斯公式)
cout<<"R = "<<endl<<R<<endl;
cout<<"t = "<<endl<<t<<endl;
cout<<"calling bundle adjustment"<<endl;
// BA这块会报错,就没写出来了
bundleAdjustment(pts_3d, pts_2d, K, R, t);
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)
);
}
// BA
void bundleAdjustment(
const vector<Point3f> points_3d,
const vector<Point2f> points_2d,
const Mat& K, Mat& R, Mat& t
){
// // 初始化g2o
// typedef g2o::BlockSolver<g2o::BlockSolverTraits<6,3>>Block; //pose维度为6,landmark维度为3
// Block::LinearSolverType* linearSolver = new g2o::LinearSolverCSparse<Block::PoseMatrixType>(); // 线性方程求解器
// Block* solver_ptr = new Block(linearSolver); // 矩阵块求解器
// g2o::OptimizationAlgorithmLevenberg* solver = new g2o::OptimizationAlgorithmLevenberg(solver_ptr);
}