在ICP程序中，将空间点也作为优化变量考虑进来，程序该如何书写？

最新推荐文章于 2022-04-20 22:49:43 发布

luo870604851

最新推荐文章于 2022-04-20 22:49:43 发布

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分类专栏： g2o 文章标签： g2o 非线性优化 ICP SLAM

本文链接：https://blog.csdn.net/luo870604851/article/details/82290752

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由p=Rp‘+t，现在把第二个相机坐标系下的空间点作为优化变量考虑进来，并用列文伯格-马尔夸特法求最优解：

第一个顶点仍为相机位姿，借用空间顶点g2o::VertexSBAPointXYZ作为第二个相机观测的顶点，添加顶点如下：

for ( auto p:pts2 ) 
    {
        g2o::VertexSBAPointXYZ* point = new g2o::VertexSBAPointXYZ();
        point->setId ( index++ );
        point->setEstimate ( Eigen::Vector3d ( p.x, p.y, p.z ) );
        point->setMarginalized ( true ); // g2o 中必须设置 marg 参见第十讲内容
        optimizer.addVertex ( point );
    }

由于g2o没有提供3d-3d的边，我们自己定义边的类：

class EdgeProjectXYZRGBDPose : public g2o::BaseBinaryEdge<3, Eigen::Vector3d, g2o::VertexSE3Expmap, g2o::VertexSBAPointXYZ> //改用二元边
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    EdgeProjectXYZRGBDPose()=default;//使用默认构造函数

    virtual void computeError()
    {
      const g2o::VertexSE3Expmap* pose = static_cast<const g2o::VertexSE3Expmap*> ( _vertices[0] );//位姿顶点
      const g2o::VertexSBAPointXYZ* point = static_cast<const g2o::VertexSBAPointXYZ*>(_vertices[1]);//第二个相机的观测顶点
        // measurement is p, point is p'
      _error = _measurement - pose->estimate().map(point->estimate());//两个顶点间的误差
    }
    virtual void linearizeOplus()  //线性化函数
{
        g2o::VertexSE3Expmap* pose = static_cast<g2o::VertexSE3Expmap *>(_vertices[0]);
        g2o::VertexSBAPointXYZ* point = static_cast<g2o::VertexSBAPointXYZ*>(_vertices[1]);
        g2o::SE3Quat T(pose->estimate());
        Eigen::Vector3d xyz_trans = T.map(point->estimate());
        double x = xyz_trans[0];
        double y = xyz_trans[1];
        double z = xyz_trans[2];

        _jacobianOplusXj=-T.rotation().toRotationMatrix();//误差e对p(撇)的导数
        _jacobianOplusXi(0,0) = 0;
        _jacobianOplusXi(0,1) = -z;
        _jacobianOplusXi(0,2) = y;
        _jacobianOplusXi(0,3) = -1;
        _jacobianOplusXi(0,4) = 0;
        _jacobianOplusXi(0,5) = 0;

        _jacobianOplusXi(1,0) = z;
        _jacobianOplusXi(1,1) = 0;
        _jacobianOplusXi(1,2) = -x;
        _jacobianOplusXi(1,3) = 0;
        _jacobianOplusXi(1,4) = -1;
        _jacobianOplusXi(1,5) = 0;

        _jacobianOplusXi(2,0) = -y;
        _jacobianOplusXi(2,1) = x;
        _jacobianOplusXi(2,2) = 0;
        _jacobianOplusXi(2,3) = 0;
        _jacobianOplusXi(2,4) = 0;
        _jacobianOplusXi(2,5) = -1;
}

添加边：

    index = 1;
    vector<EdgeProjectXYZRGBDPose*> edges;
    for ( size_t i=0; i<pts1.size(); i++ )
    {
        EdgeProjectXYZRGBDPose* edge = new EdgeProjectXYZRGBDPose();
        edge->setId( index );
        edge->setVertex( 0, pose);//位姿顶点
        edge->setVertex( 1, dynamic_cast<g2o::VertexSBAPointXYZ*> ( optimizer.vertex ( index ) ) );//第二个相机观测顶点p(撇)
        edge->setMeasurement( Eigen::Vector3d(
            pts1[i].x, pts1[i].y, pts1[i].z) );//p
        edge->setInformation( Eigen::Matrix3d::Identity()*1e4 );
        optimizer.addEdge(edge);
        index++;
        edges.push_back(edge);
    }

完整代码如下：

#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 <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/solvers/eigen/linear_solver_eigen.h>
#include <g2o/types/sba/types_six_dof_expmap.h>
#include <g2o/core/optimization_algorithm_levenberg.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 );

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
);

// g2o edge
class EdgeProjectXYZRGBDPose : public g2o::BaseBinaryEdge<3, Eigen::Vector3d, g2o::VertexSE3Expmap, g2o::VertexSBAPointXYZ>
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
    EdgeProjectXYZRGBDPose()=default;

    virtual void computeError()
    {
        const g2o::VertexSE3Expmap* pose = static_cast<const g2o::VertexSE3Expmap*> ( _vertices[0] );
        const g2o::VertexSBAPointXYZ* point = static_cast<const g2o::VertexSBAPointXYZ*>(_vertices[1]);
        // measurement is p, point is p'
        _error = _measurement - pose->estimate().map(point->estimate());
    }

    virtual void linearizeOplus()
    {
        g2o::VertexSE3Expmap* pose = static_cast<g2o::VertexSE3Expmap *>(_vertices[0]);
        g2o::VertexSBAPointXYZ* point = static_cast<g2o::VertexSBAPointXYZ*>(_vertices[1]);
        g2o::SE3Quat T(pose->estimate());
        Eigen::Vector3d xyz_trans = T.map(point->estimate());
        double x = xyz_trans[0];
        double y = xyz_trans[1];
        double z = xyz_trans[2];

        _jacobianOplusXj=-T.rotation().toRotationMatrix();
        _jacobianOplusXi(0,0) = 0;
        _jacobianOplusXi(0,1) = -z;
        _jacobianOplusXi(0,2) = y;
        _jacobianOplusXi(0,3) = -1;
        _jacobianOplusXi(0,4) = 0;
        _jacobianOplusXi(0,5) = 0;

        _jacobianOplusXi(1,0) = z;
        _jacobianOplusXi(1,1) = 0;
        _jacobianOplusXi(1,2) = -x;
        _jacobianOplusXi(1,3) = 0;
        _jacobianOplusXi(1,4) = -1;
        _jacobianOplusXi(1,5) = 0;

        _jacobianOplusXi(2,0) = -y;
        _jacobianOplusXi(2,1) = x;
        _jacobianOplusXi(2,2) = 0;
        _jacobianOplusXi(2,3) = 0;
        _jacobianOplusXi(2,4) = 0;
        _jacobianOplusXi(2,5) = -1;
    }

    bool read ( istream& in ) {}
    bool write ( ostream& out ) const {}
};

int main ( int argc, char** argv )
{
    if ( argc != 5 )
    {
        cout<<"usage: pose_estimation_3d3d img1 img2 depth1 depth2"<<endl;
        return 1;
    }
    //-- 读取图像
    Mat img_1 = imread ( argv[1], CV_LOAD_IMAGE_COLOR );
    Mat img_2 = imread ( argv[2], 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<<"一共找到了"<<matches.size() <<"组匹配点"<<endl;

    // 建立3D点
    Mat depth1 = imread ( argv[3], CV_LOAD_IMAGE_UNCHANGED );       // 深度图为16位无符号数，单通道图像
    Mat depth2 = imread ( argv[4], CV_LOAD_IMAGE_UNCHANGED );       // 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_<double>(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<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();
    // use this if you are in OpenCV2
    // Ptr<FeatureDetector> detector = FeatureDetector::create ( "ORB" );
    // Ptr<DescriptorExtractor> descriptor = DescriptorExtractor::create ( "ORB" );
    Ptr<DescriptorMatcher> 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<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<double> ( 0,2 ) ) / K.at<double> ( 0,0 ),
               ( p.y - K.at<double> ( 1,2 ) ) / K.at<double> ( 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;
    }

    // compute q1*q2^T
    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
    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;

    Eigen::Matrix3d R_ = U* ( V.transpose() );
    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 )
{
    // 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::LinearSolverEigen<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 );
    g2o::SparseOptimizer optimizer;
    optimizer.setAlgorithm( solver );

    // vertex
    g2o::VertexSE3Expmap* pose = new g2o::VertexSE3Expmap(); // camera pose
    pose->setId(0);
//    Eigen::Matrix3d R_mat;
//    R_mat <<
//          R.at<double> ( 0,0 ), R.at<double> ( 0,1 ), R.at<double> ( 0,2 ),
//          R.at<double> ( 1,0 ), R.at<double> ( 1,1 ), R.at<double> ( 1,2 ),
//          R.at<double> ( 2,0 ), R.at<double> ( 2,1 ), R.at<double> ( 2,2 );
//    pose->setEstimate(  g2o::SE3Quat(
//                         R_mat,
//                         Eigen::Vector3d( t.at<double> ( 0,0 ),t.at<double> ( 0,1 ),t.at<double> ( 0,2 ) )
//                         )
//                      );
    pose->setEstimate( g2o::SE3Quat(
        Eigen::Matrix3d::Identity(),
        Eigen::Vector3d( 0,0,0 )
    ) );
    optimizer.addVertex( pose );
    //point
    int index = 1;
    for ( auto p:pts2 )   // landmarks
    {
        g2o::VertexSBAPointXYZ* point = new g2o::VertexSBAPointXYZ();
        point->setId ( index++ );
        point->setEstimate ( Eigen::Vector3d ( p.x, p.y, p.z ) );
        point->setMarginalized ( true ); // g2o 中必须设置 marg 参见第十讲内容
        optimizer.addVertex ( point );
    }
    // edges
    index = 1;
    vector<EdgeProjectXYZRGBDPose*> edges;
    for ( size_t i=0; i<pts1.size(); i++ )
    {
        EdgeProjectXYZRGBDPose* edge = new EdgeProjectXYZRGBDPose();
        edge->setId( index );
        edge->setVertex( 0, pose);
        edge->setVertex( 1, dynamic_cast<g2o::VertexSBAPointXYZ*> ( optimizer.vertex ( index ) ) );
        edge->setMeasurement( Eigen::Vector3d(
            pts1[i].x, pts1[i].y, pts1[i].z) );
        edge->setInformation( Eigen::Matrix3d::Identity()*1e4 );
        optimizer.addEdge(edge);
        index++;
        edges.push_back(edge);
    }

    chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
    optimizer.setVerbose( true );
    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<double>>(t2-t1);
    cout<<"optimization costs time: "<<time_used.count()<<" seconds."<<endl;

    cout<<endl<<"after optimization:"<<endl;
    Eigen::Isometry3d T_(pose->estimate());
    cout<<"T="<<endl<<T_.matrix()<<endl;
    cout<<"T_inv="<<endl<<T_.inverse().matrix()<<endl;
}

结果：

/home/luoyongheng/study_slam/ch07/cmake-build-debug/pose_estimation_3d3d 1.png 2.png 1_depth.png 2_depth.png
[ INFO:0] Initialize OpenCL runtime...
-- Max dist : 95.000000 
-- Min dist : 7.000000 
一共找到了81组匹配点
3d-3d pairs: 75
W=  11.8688 -0.717698   1.89486
 -1.88065   3.83391  -5.78219
  3.25846  -5.82734   9.65267
U=  0.592295  -0.805658 -0.0101195
 -0.418171  -0.318113   0.850845
  0.688709   0.499719   0.525319
V=   0.64736  -0.761401 -0.0345329
 -0.388765  -0.368829   0.844291
  0.655581   0.533135   0.534772
ICP via SVD results: 
R = [0.9972065647956205, 0.05834273442898395, -0.04663895869192642;
 -0.05787745545449197, 0.9982601221728663, 0.01126626067193232;
 0.04721511705620776, -0.008535444848613738, 0.9988482762174669]
t = [0.1379879629890436;
 -0.06551699470729977;
 -0.02981649388290597]
R_inv = [0.9972065647956205, -0.05787745545449197, 0.04721511705620776;
 0.05834273442898395, 0.9982601221728663, -0.008535444848613738;
 -0.04663895869192642, 0.01126626067193232, 0.9988482762174669]
t_inv = [-0.1399866702492463;
 0.0570979110227253;
 0.0369558999644324]
calling bundle adjustment
iteration= 0	 chi2= 54.428454	 time= 0.000104804	 cumTime= 0.000104804	 edges= 75	 schur= 1	 lambda= 7.866020	 levenbergIter= 1
iteration= 1	 chi2= 0.000855	 time= 3.4734e-05	 cumTime= 0.000139538	 edges= 75	 schur= 1	 lambda= 2.622007	 levenbergIter= 1
iteration= 2	 chi2= 0.000000	 time= 2.9002e-05	 cumTime= 0.00016854	 edges= 75	 schur= 1	 lambda= 1.748005	 levenbergIter= 1
iteration= 3	 chi2= 0.000000	 time= 2.8679e-05	 cumTime= 0.000197219	 edges= 75	 schur= 1	 lambda= 1.165336	 levenbergIter= 1
iteration= 4	 chi2= 0.000000	 time= 2.8634e-05	 cumTime= 0.000225853	 edges= 75	 schur= 1	 lambda= 0.776891	 levenbergIter= 1
iteration= 5	 chi2= 0.000000	 time= 2.9074e-05	 cumTime= 0.000254927	 edges= 75	 schur= 1	 lambda= 0.517927	 levenbergIter= 1
iteration= 6	 chi2= 0.000000	 time= 0.000101344	 cumTime= 0.000356271	 edges= 75	 schur= 1	 lambda= 139030042.253997	 levenbergIter= 7
optimization costs time: 0.000615394 seconds.

after optimization:
T=
   0.997856   0.0561307  -0.0336695    0.114524
 -0.0560237    0.998421  0.00411292  -0.0525149
  0.0338471 -0.00221781    0.999425   -0.031294
          0           0           0           1
T_inv=
   0.997856  -0.0560237   0.0338471   -0.116161
  0.0561307    0.998421 -0.00221781   0.0459343
 -0.0336695  0.00411292    0.999425   0.0353479
          0           0           0           1
p1 = [-0.0374123, -0.830816, 2.7448]
p2 = [-0.0111479, -0.746763, 2.7652]
(R*p2+t) = [-0.04566300488482988;
 -0.7791822151698655;
 2.738046267661637]

p1 = [-0.243698, -0.117719, 1.5848]
p2 = [-0.299118, -0.0975683, 1.6558]
(R*p2+t) = [-0.2432120544305981;
 -0.1269486029625337;
 1.610786345002579]

p1 = [-0.627753, 0.160186, 1.3396]
p2 = [-0.709645, 0.159033, 1.4212]
(R*p2+t) = [-0.6266796777024646;
 0.1503229238263246;
 1.354883323538179]

p1 = [-0.323443, 0.104873, 1.4266]
p2 = [-0.399079, 0.12047, 1.4838]
(R*p2+t) = [-0.322150852559034;
 0.09455772952719488;
 1.432403794814274]

p1 = [-0.627221, 0.101454, 1.3116]
p2 = [-0.709709, 0.100216, 1.3998]
(R*p2+t) = [-0.6291763602679334;
 0.09137127679150189;
 1.334006907588644]