Mastering Opencv ch4：SFM详解（三）

最新推荐文章于 2024-08-08 20:14:43 发布

chuhang_zhqr

最新推荐文章于 2024-08-08 20:14:43 发布

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分类专栏： OpenCV SLAM 文章标签： opencv 三维

本文链接：https://blog.csdn.net/chuhang_zhqr/article/details/52951581

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本文详细介绍了使用Opencv进行三维重建过程中，如何通过SFM（结构化从运动）求解P1矩阵的过程。通过TriangulatePoints和TestTriangulation函数进行三维点的重构，并通过迭代线性重构计算三维坐标。文中还探讨了判断P1有效性条件，包括基于重投影误差和透视变换后点在摄像机前面的比例。对于为何需要两个条件，作者提出了自己的理解，认为K标定矩阵在重投影和透视变换中起到关键作用。

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前面已经利用分解本质矩阵E得到两幅图像的姿态R1，R2，t1，t2.
如何把这四个值组合成P1，得到正确的解，接下来就要分析。

1：利用三维重构求取在摄像机前面的重构点的所占比，得出最高占比的那个P1，就是要求得解。

P1 = Matx34d(R1(0,0),   R1(0,1),    R1(0,2),    t1(0),
                         R1(1,0),   R1(1,1),    R1(1,2),    t1(1),
                         R1(2,0),   R1(2,1),    R1(2,2),    t1(2));
            cout << "Testing P1 " << endl << Mat(P1) << endl;

            vector<CloudPoint> pcloud,pcloud1; vector<KeyPoint> corresp;
            double reproj_error1 = TriangulatePoints(imgpts1_good, imgpts2_good, K, Kinv, distcoeff, P, P1, pcloud, corresp);
            double reproj_error2 = TriangulatePoints(imgpts2_good, imgpts1_good, K, Kinv, distcoeff, P1, P, pcloud1, corresp);
            vector<uchar> tmp_status;
            //check if pointa are triangulated --in front-- of cameras for all 4 ambiguations
            if (!TestTriangulation(pcloud,P1,tmp_status) || !TestTriangulation(pcloud1,P,tmp_status) || reproj_error1 > 100.0 || reproj_error2 > 100.0) {
                P1 = Matx34d(R1(0,0),   R1(0,1),    R1(0,2),    t2(0),
                             R1(1,0),   R1(1,1),    R1(1,2),    t2(1),
                             R1(2,0),   R1(2,1),    R1(2,2),    t2(2));
                cout << "Testing P1 "<< endl << Mat(P1) << endl;

                pcloud.clear(); pcloud1.clear(); corresp.clear();
                reproj_error1 = TriangulatePoints(imgpts1_good, imgpts2_good, K, Kinv, distcoeff, P, P1, pcloud, corresp);
                reproj_error2 = TriangulatePoints(imgpts2_good, imgpts1_good, K, Kinv, distcoeff, P1, P, pcloud1, corresp);

                if (!TestTriangulation(pcloud,P1,tmp_status) || !TestTriangulation(pcloud1,P,tmp_status) || reproj_error1 > 100.0 || reproj_error2 > 100.0) {
                    if (!CheckCoherentRotation(R2)) {
                        cout << "resulting rotation is not coherent\n";
                        P1 = 0;
                        return false;
                    }

                    P1 = Matx34d(R2(0,0),   R2(0,1),    R2(0,2),    t1(0),
                                 R2(1,0),   R2(1,1),    R2(1,2),    t1(1),
                                 R2(2,0),   R2(2,1),    R2(2,2),    t1(2));
                    cout << "Testing P1 "<< endl << Mat(P1) << endl;

                    pcloud.clear(); pcloud1.clear(); corresp.clear();
                    reproj_error1 = TriangulatePoints(imgpts1_good, imgpts2_good, K, Kinv, distcoeff, P, P1, pcloud, corresp);
                    reproj_error2 = TriangulatePoints(imgpts2_good, imgpts1_good, K, Kinv, distcoeff, P1, P, pcloud1, corresp);

                    if (!TestTriangulation(pcloud,P1,tmp_status) || !TestTriangulation(pcloud1,P,tmp_status) || reproj_error1 > 100.0 || reproj_error2 > 100.0) {
                        P1 = Matx34d(R2(0,0),   R2(0,1),    R2(0,2),    t2(0),
                                     R2(1,0),   R2(1,1),    R2(1,2),    t2(1),
                                     R2(2,0),   R2(2,1),    R2(2,2),    t2(2));
                        cout << "Testing P1 "<< endl << Mat(P1) << endl;

                        pcloud.clear(); pcloud1.clear(); corresp.clear();
                        reproj_error1 = TriangulatePoints(imgpts1_good, imgpts2_good, K, Kinv, distcoeff, P, P1, pcloud, corresp);
                        reproj_error2 = TriangulatePoints(imgpts2_good, imgpts1_good, K, Kinv, distcoeff, P1, P, pcloud1, corresp);

                        if (!TestTriangulation(pcloud,P1,tmp_status) || !TestTriangulation(pcloud1,P,tmp_status) || reproj_error1 > 100.0 || reproj_error2 > 100.0) {
                            cout << "Shit." << endl; 
                            return false;
                        }
                    }               
                }           
            }