OpenCV实现求解单目相机位姿

        单目相机通过对极约束来求解相机运动的位姿。参考了ORBSLAM中单目实现的代码，这里用opencv来实现最简单的位姿估计.

 

mLeftImg = cv::imread(lImg, cv::IMREAD_GRAYSCALE);
mRightImg = cv::imread(rImg, cv::IMREAD_GRAYSCALE);
cv::Ptr<ORB> OrbLeftExtractor = cv::ORB::create();
cv::Ptr<ORB> OrbRightExtractor = cv::ORB::create();

OrbLeftExtractor->detectAndCompute(mLeftImg, noArray(), mLeftKps, mLeftDes);
OrbRightExtractor->detectAndCompute(mRightImg, noArray(), mRightKps, mRightDes);
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create(DescriptorMatcher::BRUTEFORCE_HAMMING);
matcher->match(mLeftDes, mRightDes, mMatches);

 首先通过ORB特征提取，获取两幅图像的匹配度，我将其连线出来的效果:

 

RANSAC的算法原理可以google，很容易理解。先看看ORBSLAM中的实现：

bool Initializer::Initialize(const Frame &CurrentFrame, const vector<int> &vMatches12, cv::Mat &R21, cv::Mat &t21,
                             vector<cv::Point3f> &vP3D, vector<bool> &vbTriangulated)
{
    // Fill structures with current keypoints and matches with reference frame
    // Reference Frame: 1, Current Frame: 2
    // Frame2 特征点
    mvKeys2 = CurrentFrame.mvKeysUn;

    // mvMatches12记录匹配上的特征点对
    mvMatches12.clear();
    mvMatches12.reserve(mvKeys2.size());
    // mvbMatched1记录每个特征点是否有匹配的特征点，
    // 这个变量后面没有用到，后面只关心匹配上的特征点
    mvbMatched1.resize(mvKeys1.size());

    // 步骤1：组织特征点对
    for(size_t i=0, iend=vMatches12.size();i<iend; i++)
    {
        if(vMatches12[i]>=0)
        {
            mvMatches12.push_back(make_pair(i,vMatches12[i]));
            mvbMatched1[i]=true;
        }
        else
            mvbMatched1[i]=false;
    }

    // 匹配上的特征点的个数
    const int N = mvMatches12.size();

    // Indices for minimum set selection
    // 新建一个容器vAllIndices，生成0到N-1的数作为特征点的索引
    vector<size_t> vAllIndices;
    vAllIndices.reserve(N);
    vector<size_t> vAvailableIndices;

    for(int i=0; i<N; i++)
    {
        vAllIndices.push_back(i);
    }

    // Generate sets of 8 points for each RANSAC iteration
    // **步骤2：在所有匹配特征点对中随机选择8对匹配特征点为一组，共选择mMaxIterations组 **
     // 用于FindHomography和FindFundamental求解
    // mMaxIter