2d-2d对极几何约束

#include < iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
// #include “extra.h” // use this if in OpenCV2

using namespace std;
using namespace cv;

/****************************************************

• 本程序演示了如何使用2D-2D的特征匹配估计相机运动
• **************************************************/

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);

int main() {
//-- 读取图像
Mat img_1 = imread("/home/hotfinda/example_slambook/slambook2-master/ch7/1.png", 1);
Mat img_2 = imread("/home/hotfinda/example_slambook/slambook2-master/ch7/2.png", 1);
assert(img_1.data && img_2.data && “Can not load images!”);

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;

//-- 估计两张图像间运动
Mat R, t;
pose_estimation_2d2d(keypoints_1, keypoints_2, matches, R, t);

//-- 验证E=t^R*scale
Mat t_x =
(Mat_< double>(3, 3) << 0, -t.at< double>(2, 0), t.at< double>(1, 0),
t.at< double>(2, 0), 0, -t.at< double>(0, 0),
-t.at< double>(1, 0), t.at< double>(0, 0), 0);根据从E获得的t设定t^

cout << “t^R=” << endl << t_x * R << endl;

//-- 验证对极约束
Mat K = (Mat_< double>(3, 3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);
for (DMatch m: matches) {
Point2d pt1 = pixel2cam(keypoints_1[m.queryIdx].pt, K);//转换为归一化坐标
Mat y1 = (Mat_< double>(3, 1) << pt1.x, pt1.y, 1);
Point2d pt2 = pixel2cam(keypoints_2[m.trainIdx].pt, K);
Mat y2 = (Mat_(3, 1) << pt2.x, pt2.y, 1);
Mat d = y2.t() * t_x * R * y1; //验证x2的转置 * t^ * R * x1是否为0；
cout << "epipolar constraint = " << d << endl;
}
return 0;
}

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;
// used in OpenCV3
Ptr< FeatureDetector> detector = ORB::create();
Ptr< DescriptorExtractor> descriptor = ORB::create();

//-- 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 Hamming 距离
vector< DMatch> match;
//BFMatcher matcher ( NORM_HAMMING );
matcher->match(descriptors_1, descriptors_2, match);

//-- 第四步:匹配点对筛选
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, 即是最相似的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;
if (dist < min_dist) min_dist = dist;
if (dist > max_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.但有时候最小距离会非常小,设置一个经验值30作为下限.
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(0, 2)) / K.at(0, 0),
(p.y - K.at(1, 2)) / K.at(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 Freiburg2
Mat K = (Mat_< double>(3, 3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);

//-- 把匹配点KeyPoint转换为vector< Point2f>的形式
vector< Point2f> points1;
vector< Point2f> points2;
//DMatch的结构：DMatch(int queryIdx, int trainIdx, float distance)
//queryIdx refers to keypoints1 and trainIdx refers to keypoints2
for (int i = 0; i < (int) matches.size(); i++) {
points1.push_back(keypoints_1[matches[i].queryIdx].pt);.queryIdx找到match对应的关键点下标，.pt获取点的坐标
points2.push_back(keypoints_2[matches[i].trainIdx].pt);
}

//-- 计算基础矩阵F
Mat fundamental_matrix;
fundamental_matrix = findFundamentalMat(points1, points2, FM_8POINT);//计算F
cout << "fundamental_matrix is " << endl << fundamental_matrix << endl;

//-- 计算本质矩阵E
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);//计算E
cout << "essential_matrix is " << endl << essential_matrix << endl;

//-- 计算单应矩阵H
//-- 但是本例中场景不是平面，单应矩阵意义不大
Mat homography_matrix;
homography_matrix = findHomography(points1, points2, RANSAC, 3);//计算H
cout << "homography_matrix is " << endl << homography_matrix << endl;

//-- 从本质矩阵中恢复旋转和平移信息.
// 此函数仅在Opencv3中提供
recoverPose(essential_matrix, points1, points2, R, t, focal_length, principal_point);//根据E，返回可用解R,t
cout << "R is " << endl << R << endl;
cout << "t is " << endl << t << endl;

}