3d-3d，使用SVD分解求R,t；使用非线性优化g2o求解T

#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/Dense>
#include <Eigen/Geometry>
#include <Eigen/SVD>
#include <g2o/core/base_vertex.h>
#include <g2o/core/base_unary_edge.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/optimization_algorithm_gauss_newton.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/dense/linear_solver_dense.h>
#include < chrono>
#include <sophus/se3.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);

// 像素坐标转相机归一化坐标
Point2d pixel2cam(const Point2d &p, const Mat &K);

void pose_estimation_3d3d(
const vector< Point3f> &pts1,
const vector< Point3f> &pts2,
Mat &R, Mat &t
);

void bundleAdjustment(
const vector< Point3f> &points_3d,
const vector< Point3f> &points_2d,
Mat &R, Mat &t
);

/// vertex and edges used in g2o ba
//定义顶点
class VertexPose : public g2o::BaseVertex<6, Sophus::SE3d> {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

virtual void setToOriginImpl() override {
_estimate = Sophus::SE3d();
}

/// left multiplication on SE3
virtual void oplusImpl(const double *update) override {
Eigen::Matrix<double, 6, 1> update_eigen;
update_eigen << update[0], update[1], update[2], update[3], update[4], update[5];
_estimate = Sophus::SE3d::exp(update_eigen) * _estimate;
}

virtual bool read(istream &in) override {}

virtual bool write(ostream &out) const override {}
};

/// g2o edge
//定义边
class EdgeProjectXYZRGBDPoseOnly : public g2o::BaseUnaryEdge<3, Eigen::Vector3d, VertexPose> {
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

EdgeProjectXYZRGBDPoseOnly(const Eigen::Vector3d &point) : _point(point) {}

virtual void computeError() override {
const VertexPose *pose = static_cast<const VertexPose *> ( _vertices[0] );
_error = _measurement - pose->estimate() * _point;
}

virtual void linearizeOplus() override {
VertexPose *pose = static_cast<VertexPose *>(_vertices[0]);
Sophus::SE3d T = pose->estimate();
Eigen::Vector3d xyz_trans = T * _point;
_jacobianOplusXi.block<3, 3>(0, 0) = -Eigen::Matrix3d::Identity();
_jacobianOplusXi.block<3, 3>(0, 3) = Sophus::SO3d::hat(xyz_trans);
}

bool read(istream &in) {}

bool write(ostream &out) const {}

protected:
Eigen::Vector3d _point;
};

int main() {

//-- 读取图像
Mat img_1 = imread("/home/hotfinda/example_slambook/slambook2-master/ch7/1.png", IMREAD_COLOR);
Mat img_2 = imread("/home/hotfinda/example_slambook/slambook2-master/ch7/2.png", IMREAD_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;

// 建立3D点
Mat depth1 = imread("/home/hotfinda/example_slambook/slambook2-master/ch7/1_depth.png", -1); // 深度图为16位无符号数，单通道图像
Mat depth2 = imread("/home/hotfinda/example_slambook/slambook2-master/ch7/2_depth.png", -1); // 深度图为16位无符号数，单通道图像
Mat K = (Mat_< double>(3, 3) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1);
vector< Point3f> pts1, pts2;

for (DMatch m:matches) {
ushort d1 = depth1.ptr< unsigned short>(int(keypoints_1[m.queryIdx].pt.y))[int(keypoints_1[m.queryIdx].pt.x)];
ushort d2 = depth2.ptr< unsigned short>(int(keypoints_2[m.trainIdx].pt.y))[int(keypoints_2[m.trainIdx].pt.x)];
if (d1 == 0 || d2 == 0) // bad depth
continue;
Point2d p1 = pixel2cam(keypoints_1[m.queryIdx].pt, K);
Point2d p2 = pixel2cam(keypoints_2[m.trainIdx].pt, K);
float dd1 = float(d1) / 5000.0;
float dd2 = float(d2) / 5000.0;
pts1.push_back(Point3f(p1.x * dd1, p1.y * dd1, dd1));
pts2.push_back(Point3f(p2.x * dd2, p2.y * dd2, dd2));
}

cout << "3d-3d pairs: " << pts1.size() << endl;
Mat R, t;
pose_estimation_3d3d(pts1, pts2, R, t);
cout << "ICP via SVD results: " << endl;
cout << "R = " << R << endl;
cout << "t = " << t << endl;
cout << "R_inv = " << R.t() << endl;
cout << "t_inv = " << -R.t() * t << endl;

cout << “calling bundle adjustment” << endl;

bundleAdjustment(pts1, pts2, R, t);

// verify p1 = R * p2 + t
for (int i = 0; i < 5; i++) {
cout << "p1 = " << pts1[i] << endl;
cout << "p2 = " << pts2[i] << endl;
cout << "(R*p2+t) = " <<
R * (Mat_(3, 1) << pts2[i].x, pts2[i].y, pts2[i].z) + t
<< endl;
cout << endl;
}
}

void find_feature_matches(const Mat &img_1, const Mat &img_2,
std::vector &keypoints_1,
std::vector &keypoints_2,
std::vector &matches) {
//-- 初始化
Mat descriptors_1, descriptors_2;
// used in OpenCV3
Ptr< FeatureDetector> detector = ORB::create();
Ptr< DescriptorExtractor> descriptor = ORB::create();
// use this if you are in OpenCV2
// Ptr detector = FeatureDetector::create ( “ORB” );
// Ptr descriptor = DescriptorExtractor::create ( “ORB” );
Ptr matcher = DescriptorMatcher::create(“BruteForce-Hamming”);
//-- 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 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_3d3d(const vector< Point3f> &pts1,
const vector< Point3f> &pts2,
Mat &R, Mat &t) {
Point3f p1, p2; // center of mass
int N = pts1.size();
for (int i = 0; i < N; i++) {
p1 += pts1[i];
p2 += pts2[i];
}
p1 = Point3f(Vec3f(p1) / N);
p2 = Point3f(Vec3f(p2) / N);
vector< Point3f> q1(N), q2(N); // remove the center
for (int i = 0; i < N; i++) {
q1[i] = pts1[i] - p1;
q2[i] = pts2[i] - p2;
}

// 计算qi*q’T构成的W矩阵
Eigen::Matrix3d W = Eigen::Matrix3d::Zero();
for (int i = 0; i < N; i++) {
W += Eigen::Vector3d(q1[i].x, q1[i].y, q1[i].z) * Eigen::Vector3d(q2[i].x, q2[i].y, q2[i].z).transpose();
}
cout << “W=” << W << endl;

// SVD on W
SVD分解
Eigen::JacobiSVD< Eigen::Matrix3d> svd(W, Eigen::ComputeFullU | Eigen::ComputeFullV);
Eigen::Matrix3d U = svd.matrixU();
Eigen::Matrix3d V = svd.matrixV();

cout << “U=” << U << endl;
cout << “V=” << V << endl;
//R=U*V.t
Eigen::Matrix3d R_ = U * (V.transpose());
if (R_.determinant() < 0) {
R_ = -R_;
}
Eigen::Vector3d t_ = Eigen::Vector3d(p1.x, p1.y, p1.z) - R_ * Eigen::Vector3d(p2.x, p2.y, p2.z);

// convert to cv::Mat
R = (Mat_< double>(3, 3) <<
R_(0, 0), R_(0, 1), R_(0, 2),
R_(1, 0), R_(1, 1), R_(1, 2),
R_(2, 0), R_(2, 1), R_(2, 2)
);
t = (Mat_< double>(3, 1) << t_(0, 0), t_(1, 0), t_(2, 0));
}

void bundleAdjustment(
const vector< Point3f> &pts1,
const vector< Point3f> &pts2,
Mat &R, Mat &t) {
// 构建图优化，先设定g2o
typedef g2o::BlockSolverX BlockSolverType;
typedef g2o::LinearSolverDense< BlockSolverType::PoseMatrixType> LinearSolverType; // 线性求解器类型
// 梯度下降方法，可以从GN, LM, DogLeg 中选
auto solver = new g2o::OptimizationAlgorithmLevenberg(
g2o::make_unique< BlockSolverType>(g2o::make_unique()));
g2o::SparseOptimizer optimizer; // 图模型
optimizer.setAlgorithm(solver); // 设置求解器
optimizer.setVerbose(true); // 打开调试输出

// vertex
VertexPose *pose = new VertexPose(); // camera pose
pose->setId(0);
pose->setEstimate(Sophus::SE3d());
optimizer.addVertex(pose);

// edges
for (size_t i = 0; i < pts1.size(); i++) {
EdgeProjectXYZRGBDPoseOnly *edge = new EdgeProjectXYZRGBDPoseOnly(
Eigen::Vector3d(pts2[i].x, pts2[i].y, pts2[i].z));
edge->setVertex(0, pose);
edge->setMeasurement(Eigen::Vector3d(
pts1[i].x, pts1[i].y, pts1[i].z));
edge->setInformation(Eigen::Matrix3d::Identity());
optimizer.addEdge(edge);
}

chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
optimizer.initializeOptimization();
optimizer.optimize(10);
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration< double> time_used = chrono::duration_cast<chrono::duration>(t2 - t1);
cout << “optimization costs time: " << time_used.count() << " seconds.” << endl;

cout << endl << “after optimization:” << endl;
cout << “T=\n” << pose->estimate().matrix() << endl;

// convert to cv::Mat
Eigen::Matrix3d R_ = pose->estimate().rotationMatrix();
Eigen::Vector3d t_ = pose->estimate().translation();
R = (Mat_< double>(3, 3) <<
R_(0, 0), R_(0, 1), R_(0, 2),
R_(1, 0), R_(1, 1), R_(1, 2),
R_(2, 0), R_(2, 1), R_(2, 2)
);
t = (Mat_< double>(3, 1) << t_(0, 0), t_(1, 0), t_(2, 0));
}