Win10+vcpkg+g2o+vs2019配置
参考:
Windows+Visual Studio下生成g2o库教程(结合Cholmod库)
2021.7.13更新:可用.\vcpkg.exe integrate install
将下载的库集成到vs的全局环境,这样就不用进行第二步的环境配置了。
**
1. 利用vcpkg下载安装g2o(必须使用最新版本的vcpkg)
**
我的vcpkg版本为2020.11,下载地址:https://github.com/microsoft/vcpkg/releases
直接下载.zip安装包,解压,双击bootstrap-vcpkg.bat
,运行结束后出现vcpkg.exe
,即可使用。
运行(win+R)->输入cmd
,出现
切换到有vcpkg.exe的目录下
输入命令:vcpkg install g2o:x64-windows
或者打开PowerShell
转换到有vcpkg.exe的目录下
输入命令:\vcpkg.exe install g2o:x64-windows
在安装suitesparse
时,可能会出现如下错误
Error : Building package suitesparse:x64-vindows failed vith:BUILD_FAILED
这时,可先用vcpkg安装suitesparse
./vcpkg.exe install suitesparse:x64-windows
然后再重复:.\vcpkg.exe install g2o:x64-windows
,即可成功。
最后的vcpkg目录如下图所示:
**
2. g2o配置
**
参考:【SLAM】SLAM环境配置 Win10+VS2019+OpenCV+PCL+g2o+Vcpkg
利用参考教程的测试代码进行测试。
/**
* BA Example
* Author: Xiang Gao
* Date: 2016.3
* Email: gaoxiang12@mails.tsinghua.edu.cn
*
* 在这个程序中,我们读取两张图像,进行特征匹配。然后根据匹配得到的特征,计算相机运动以及特征点的位置。这是一个典型的Bundle Adjustment,我们用g2o进行优化。
*/
// for std
#include <iostream>
// for opencv
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <boost/concept_check.hpp>
// for g2o
#include <g2o/core/sparse_optimizer.h>
#include <g2o/core/block_solver.h>
#include <g2o/core/robust_kernel.h>
#include <g2o/core/robust_kernel_impl.h>
#include <g2o/core/optimization_algorithm_levenberg.h>
#include <g2o/solvers/cholmod/linear_solver_cholmod.h>
#include <g2o/types/slam3d/se3quat.h>
#include <g2o/types/sba/types_six_dof_expmap.h>
using namespace std;
using namespace cv;
// 寻找两个图像中的对应点,像素坐标系
// 输入:img1, img2 两张图像
// 输出:points1, points2, 两组对应的2D点
int findCorrespondingPoints(const cv::Mat& img1, const cv::Mat& img2, vector<cv::Point2f>& points1, vector<cv::Point2f>& points2);
// 相机内参
double cx = 325.5;
double cy = 253.5;
double fx = 518.0;
double fy = 519.0;
int main()
{
// 读取图像
cv::Mat img1 = cv::imread("near.jpg",-1);
cv::Mat img2 = cv::imread("far.jpg",-1);
// 找到对应点
vector<cv::Point2f> pts1, pts2;
if (findCorrespondingPoints(img1, img2, pts1, pts2) == false)
{
cout << "匹配点不够!" << endl;
return 0;
}
cout << "找到了" << pts1.size() << "组对应特征点。" << endl;
// 构造g2o中的图
// 先构造求解器
g2o::SparseOptimizer optimizer;
// 使用Cholmod中的线性方程求解器
g2o::BlockSolver_6_3::LinearSolverType* linearSolver = new g2o::LinearSolverCholmod<g2o::BlockSolver_6_3::PoseMatrixType>();
// 6*3 的参数
g2o::BlockSolver_6_3* block_solver = new g2o::BlockSolver_6_3(linearSolver);
// L-M 下降
g2o::OptimizationAlgorithmLevenberg* algorithm = new g2o::OptimizationAlgorithmLevenberg(block_solver);
optimizer.setAlgorithm(algorithm);
optimizer.setVerbose(false);
// 添加节点
// 两个位姿节点
for (int i = 0; i<2; i++)
{
g2o::VertexSE3Expmap* v = new g2o::VertexSE3Expmap();
v->setId(i);
if (i == 0)
v->setFixed(true); // 第一个点固定为零
// 预设值为单位Pose,因为我们不知道任何信息
v->setEstimate(g2o::SE3Quat());
optimizer.addVertex(v);
}
// 很多个特征点的节点
// 以第一帧为准
for (size_t i = 0; i<pts1.size(); i++)
{
g2o::VertexSBAPointXYZ* v = new g2o::VertexSBAPointXYZ();
v->setId(2 + i);
// 由于深度不知道,只能把深度设置为1了
double z = 1;
double x = (pts1[i].x - cx) * z / fx;
double y = (pts1[i].y - cy) * z / fy;
v->setMarginalized(true);
v->setEstimate(Eigen::Vector3d(x, y, z));
optimizer.addVertex(v);
}
// 准备相机参数
g2o::CameraParameters* camera = new g2o::CameraParameters(fx, Eigen::Vector2d(cx, cy), 0);
camera->setId(0);
optimizer.addParameter(camera);
// 准备边
// 第一帧
vector<g2o::EdgeProjectXYZ2UV*> edges;
for (size_t i = 0; i<pts1.size(); i++)
{
g2o::EdgeProjectXYZ2UV* edge = new g2o::EdgeProjectXYZ2UV();
edge->setVertex(0, dynamic_cast<g2o::VertexSBAPointXYZ*> (optimizer.vertex(i + 2)));
edge->setVertex(1, dynamic_cast<g2o::VertexSE3Expmap*> (optimizer.vertex(0)));
edge->setMeasurement(Eigen::Vector2d(pts1[i].x, pts1[i].y));
edge->setInformation(Eigen::Matrix2d::Identity());
edge->setParameterId(0, 0);
// 核函数
edge->setRobustKernel(new g2o::RobustKernelHuber());
optimizer.addEdge(edge);
edges.push_back(edge);
}
// 第二帧
for (size_t i = 0; i<pts2.size(); i++)
{
g2o::EdgeProjectXYZ2UV* edge = new g2o::EdgeProjectXYZ2UV();
edge->setVertex(0, dynamic_cast<g2o::VertexSBAPointXYZ*> (optimizer.vertex(i + 2)));
edge->setVertex(1, dynamic_cast<g2o::VertexSE3Expmap*> (optimizer.vertex(1)));
edge->setMeasurement(Eigen::Vector2d(pts2[i].x, pts2[i].y));
edge->setInformation(Eigen::Matrix2d::Identity());
edge->setParameterId(0, 0);
// 核函数
edge->setRobustKernel(new g2o::RobustKernelHuber());
optimizer.addEdge(edge);
edges.push_back(edge);
}
cout << "开始优化" << endl;
optimizer.setVerbose(true);
optimizer.initializeOptimization();
optimizer.optimize(10);
cout << "优化完毕" << endl;
//我们比较关心两帧之间的变换矩阵
g2o::VertexSE3Expmap* v = dynamic_cast<g2o::VertexSE3Expmap*>(optimizer.vertex(1));
Eigen::Isometry3d pose = v->estimate();
cout << "Pose=" << endl << pose.matrix() << endl;
// 以及所有特征点的位置
for (size_t i = 0; i<pts1.size(); i++)
{
g2o::VertexSBAPointXYZ* v = dynamic_cast<g2o::VertexSBAPointXYZ*> (optimizer.vertex(i + 2));
cout << "vertex id " << i + 2 << ", pos = ";
Eigen::Vector3d pos = v->estimate();
cout << pos(0) << "," << pos(1) << "," << pos(2) << endl;
}
// 估计inlier的个数
int inliers = 0;
for (vector<g2o::EdgeProjectXYZ2UV*>::iterator e = edges.begin();e!=edges.end();++e)
{
(*e)->computeError();
// chi2 就是 error*\Omega*error, 如果这个数很大,说明此边的值与其他边很不相符
if ((*e)->chi2() > 1)
{
cout << "error = " << (*e)->chi2() << endl;
}
else
{
inliers++;
}
}
cout << "inliers in total points: " << inliers << "/" << pts1.size() + pts2.size() << endl;
optimizer.save("ba.g2o");
std::system("pause");
return 0;
}
int findCorrespondingPoints(const cv::Mat& img1, const cv::Mat& img2, vector<cv::Point2f>& points1, vector<cv::Point2f>& points2)
{
cv::ORB orb;
vector<cv::KeyPoint> kp1, kp2;
cv::Mat desp1, desp2;
orb(img1, cv::Mat(), kp1, desp1);
orb(img2, cv::Mat(), kp2, desp2);
cout << "分别找到了" << kp1.size() << "和" << kp2.size() << "个特征点" << endl;
cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
double knn_match_ratio = 0.8;
vector< vector<cv::DMatch> > matches_knn;
matcher->knnMatch(desp1, desp2, matches_knn, 2);
vector< cv::DMatch > matches;
for (size_t i = 0; i<matches_knn.size(); i++)
{
if (matches_knn[i][0].distance < knn_match_ratio * matches_knn[i][1].distance)
matches.push_back(matches_knn[i][0]);
}
if (matches.size() <= 20) //匹配点太少
return false;
for (vector< cv::DMatch >::iterator m = matches.begin();m!=matches.end();++m)
{
points1.push_back(kp1[(*m).queryIdx].pt);
points2.push_back(kp2[(*m).trainIdx].pt);
}
return true;
}
(1)配置opencv和boost库
网上都有教程,这里不详细解说。我配置的是opencv340
以及之前安装pcl时的boost1.64
(2)配置suitesparse和g2o:
在linker->input处添加如下lib
g2o_core.lib
g2o_csparse_extension.lib
g2o_ext_freeglut_minimal.lib
g2o_opengl_helper.lib
g2o_solver_cholmod.lib
g2o_solver_csparse.lib
g2o_solver_dense.lib
g2o_solver_eigen.lib
g2o_solver_pcg.lib
g2o_solver_slam2d_linear.lib
g2o_solver_structure_only.lib
g2o_stuff.lib
g2o_types_data.lib
g2o_types_icp.lib
g2o_types_sba.lib
g2o_types_sclam2d.lib
g2o_types_sim3.lib
g2o_types_slam2d.lib
g2o_types_slam2d_addons.lib
g2o_types_slam3d.lib
g2o_types_slam3d_addons.lib
libamd.lib
libbtf.lib
libcamd.lib
libccolamd.lib
libcholmod.lib
libcolamd.lib
libcxsparse.lib
libklu.lib
libldl.lib
libspqr.lib
libumfpack.lib
metis.lib
suitesparseconfig.lib
libblas.lib
**
3. 测试代码改错部分
**
(1)cannot open source file “cholmod.h”
解决方案:将#include <cholmod.h>改为#include “suitesparse/cholmod.h”
(2)如果你配置的是opencv3及以上的版本,会出现如下错误:object of abstract class type "cv::ORB" is not allowed:
解决方案:https://www.cnblogs.com/renzmin/articles/12196094.html
(3)g2o可能会出现如下错误:no instance of constructor 'g2oRBlockSolver =BlockSolver [with Traits=g2o=BlockSoverTraits 6, 3 ]" matches the argument listno instance of constructor g2o:OptimizationAlgorithmLevenberg:OptimizationAlgorithmLevenberg"matches the argument list
解决方案如下:
(4)运行之后若出现:由于找不到xxxx.dll,无法继续执行代码时,在电脑里寻找这个dll文件,复制到C:\Windows\System32路径下
至此,代码运行成功。