-
计算F
cv::Mat F = cv::findFundamentalMat(vector<cv::Point2f>& points1, vector<cv::Point2f>& points2, int method, ... ); -
计算E
cv::Mat E = cv::findEssentialMet(points1, points2, K); -
计算H
cv::Mat H = cv::findHomography(points1,points2,CV_RANSAC,3); -
计算R, t
cv::Mat R, t; cv::recoverPose(F, points1,points2,K,R,t); -
代码示例
#include<iostream> #include<opencv2/opencv.hpp> #include<cmath> #include<vector> #include<chrono> using namespace std; int ORB_pattern[256 * 4] = { 8, -3, 9, 5 /*mean (0), correlation (0)*/, 4, 2, 7, -12 /*mean (1.12461e-05), correlation (0.0437584)*/, -11, 9, -8, 2 /*mean (3.37382e-05), correlation (0.0617409)*/, 7, -12, 12, -13 /*mean (5.62303e-05), correlation (0.0636977)*/, 2, -13, 2, 12 /*mean (0.000134953), correlation (0.085099)*/, 1, -7, 1, 6 /*mean (0.000528565), correlation (0.0857175)*/, -2, -10, -2, -4 /*mean (0.0188821), correlation (0.0985774)*/, -13, -13, -11, -8 /*mean (0.0363135), correlation (0.0899616)*/, -13, -3, -12, -9 /*mean (0.121806), correlation (0.099849)*/, 10, 4, 11, 9 /*mean (0.122065), correlation (0.093285)*/, -13, -8, -8, -9 /*mean (0.162787), correlation (0.0942748)*/, -11, 7, -9, 12 /*mean (0.21561), correlation (0.0974438)*/, 7, 7, 12, 6 /*mean (0.160583), correlation (0.130064)*/, -4, -5, -3, 0 /*mean (0.228171), correlation (0.132998)*/, -13, 2, -12, -3 /*mean (0.00997526), correlation (0.145926)*/, -9, 0, -7, 5 /*mean (0.198234), correlation (0.143636)*/, 12, -6, 12, -1 /*mean (0.0676226), correlation (0.16689)*/, -3, 6, -2, 12 /*mean (0.166847), correlation (0.171682)*/, -6, -13, -4, -8 /*mean (0.101215), correlation (0.179716)*/, 11, -13, 12, -8 /*mean (0.200641), correlation (0.192279)*/, 4, 7, 5, 1 /*mean (0.205106), correlation (0.186848)*/, 5, -3, 10, -3 /*mean (0.234908), correlation (0.192319)*/, 3, -7, 6, 12 /*mean (0.0709964), correlation (0.210872)*/, -8, -7, -6, -2 /*mean (0.0939834), correlation (0.212589)*/, -2, 11, -1, -10 /*mean (0.127778), correlation (0.20866)*/, -13, 12, -8, 10 /*mean (0.14783), correlation (0.206356)*/, -7, 3, -5, -3 /*mean (0.182141), correlation (0.198942)*/, -4, 2, -3, 7 /*mean (0.188237), correlation (0.21384)*/, -10, -12, -6, 11 /*mean (0.14865), correlation (0.23571)*/, 5, -12, 6, -7 /*mean (0.222312), correlation (0.23324)*/, 5, -6, 7, -1 /*mean (0.229082), correlation (0.23389)*/, 1, 0, 4, -5 /*mean (0.241577), correlation (0.215286)*/, 9, 11, 11, -13 /*mean (0.00338507), correlation (0.251373)*/, 4, 7, 4, 12 /*mean (0.131005), correlation (0.257622)*/, 2, -1, 4, 4 /*mean (0.152755), correlation (0.255205)*/, -4, -12, -2, 7 /*mean (0.182771), correlation (0.244867)*/, -8, -5, -7, -10 /*mean (0.186898), correlation (0.23901)*/, 4, 11, 9, 12 /*mean (0.226226), correlation (0.258255)*/, 0, -8, 1, -13 /*mean (0.0897886), correlation (0.274827)*/, -13, -2, -8, 2 /*mean (0.148774), correlation (0.28065)*/, -3, -2, -2, 3 /*mean (0.153048), correlation (0.283063)*/, -6, 9, -4, -9 /*mean (0.169523), correlation (0.278248)*/, 8, 12, 10, 7 /*mean (0.225337), correlation (0.282851)*/, 0, 9, 1, 3 /*mean (0.226687), correlation (0.278734)*/, 7, -5, 11, -10 /*mean (0.00693882), correlation (0.305161)*/, -13, -6, -11, 0 /*mean (0.0227283), correlation (0.300181)*/, 10, 7, 12, 1 /*mean (0.125517), correlation (0.31089)*/, -6, -3, -6, 12 /*mean (0.131748), correlation (0.312779)*/, 10, -9, 12, -4 /*mean (0.144827), correlation (0.292797)*/, -13, 8, -8, -12 /*mean (0.149202), correlation (0.308918)*/, -13, 0, -8, -4 /*mean (0.160909), correlation (0.310013)*/, 3, 3, 7, 8 /*mean (0.177755), correlation (0.309394)*/, 5, 7, 10, -7 /*mean (0.212337), correlation (0.310315)*/, -1, 7, 1, -12 /*mean (0.214429), correlation (0.311933)*/, 3, -10, 5, 6 /*mean (0.235807), correlation (0.313104)*/, 2, -4, 3, -10 /*mean (0.00494827), correlation (0.344948)*/, -13, 0, -13, 5 /*mean (0.0549145), correlation (0.344675)*/, -13, -7, -12, 12 /*mean (0.103385), correlation (0.342715)*/, -13, 3, -11, 8 /*mean (0.134222), correlation (0.322922)*/, -7, 12, -4, 7 /*mean (0.153284), correlation (0.337061)*/, 6, -10, 12, 8 /*mean (0.154881), correlation (0.329257)*/, -9, -1, -7, -6 /*mean (0.200967), correlation (0.33312)*/, -2, -5, 0, 12 /*mean (0.201518), correlation (0.340635)*/, -12, 5, -7, 5 /*mean (0.207805), correlation (0.335631)*/, 3, -10, 8, -13 /*mean (0.224438), correlation (0.34504)*/, -7, -7, -4, 5 /*mean (0.239361), correlation (0.338053)*/, -3, -2, -1, -7 /*mean (0.240744), correlation (0.344322)*/, 2, 9, 5, -11 /*mean (0.242949), correlation (0.34145)*/, -11, -13, -5, -13 /*mean (0.244028), correlation (0.336861)*/, -1, 6, 0, -1 /*mean (0.247571), correlation (0.343684)*/, 5, -3, 5, 2 /*mean (0.000697256), correlation (0.357265)*/, -4, -13, -4, 12 /*mean (0.00213675), correlation (0.373827)*/, -9, -6, -9, 6 /*mean (0.0126856), correlation (0.373938)*/, -12, -10, -8, -4 /*mean (0.0152497), correlation (0.364237)*/, 10, 2, 12, -3 /*mean (0.0299933), correlation (0.345292)*/, 7, 12, 12, 12 /*mean (0.0307242), correlation (0.366299)*/, -7, -13, -6, 5 /*mean (0.0534975), correlation (0.368357)*/, -4, 9, -3, 4 /*mean (0.099865), correlation (0.372276)*/, 7, -1, 12, 2 /*mean (0.117083), correlation (0.364529)*/, -7, 6, -5, 1 /*mean (0.126125), correlation (0.369606)*/, -13, 11, -12, 5 /*mean (0.130364), correlation (0.358502)*/, -3, 7, -2, -6 /*mean (0.131691), correlation (0.375531)*/, 7, -8, 12, -7 /*mean (0.160166), correlation (0.379508)*/, -13, -7, -11, -12 /*mean (0.167848), correlation (0.353343)*/, 1, -3, 12, 12 /*mean (0.183378), correlation (0.371916)*/, 2, -6, 3, 0 /*mean (0.228711), correlation (0.371761)*/, -4, 3, -2, -13 /*mean (0.247211), correlation (0.364063)*/, -1, -13, 1, 9 /*mean (0.249325), correlation (0.378139)*/, 7, 1, 8, -6 /*mean (0.000652272), correlation (0.411682)*/, 1, -1, 3, 12 /*mean (0.00248538), correlation (0.392988)*/, 9, 1, 12, 6 /*mean (0.0206815), correlation (0.386106)*/, -1, -9, -1, 3 /*mean (0.0364485), correlation (0.410752)*/, -13, -13, -10, 5 /*mean (0.0376068), correlation (0.398374)*/, 7, 7, 10, 12 /*mean (0.0424202), correlation (0.405663)*/, 12, -5, 12, 9 /*mean (0.0942645), correlation (0.410422)*/, 6, 3, 7, 11 /*mean (0.1074), correlation (0.413224)*/, 5, -13, 6, 10 /*mean (0.109256), correlation (0.408646)*/, 2, -12, 2, 3 /*mean (0.131691), correlation (0.416076)*/, 3, 8, 4, -6 /*mean (0.165081), correlation (0.417569)*/, 2, 6, 12, -13 /*mean (0.171874), correlation (0.408471)*/, 9, -12, 10, 3 /*mean (0.175146), correlation (0.41296)*/, -8, 4, -7, 9 /*mean (0.183682), correlation (0.402956)*/, -11, 12, -4, -6 /*mean (0.184672), correlation (0.416125)*/, 1, 12, 2, -8 /*mean (0.191487), correlation (0.386696)*/, 6, -9, 7, -4 /*mean (0.192668), correlation (0.394771)*/, 2, 3, 3, -2 /*mean (0.200157), correlation (0.408303)*/, 6, 3, 11, 0 /*mean (0.204588), correlation (0.411762)*/, 3, -3, 8, -8 /*mean (0.205904), correlation (0.416294)*/, 7, 8, 9, 3 /*mean (0.213237), correlation (0.409306)*/, -11, -5, -6, -4 /*mean (0.243444), correlation (0.395069)*/, -10, 11, -5, 10 /*mean (0.247672), correlation (0.413392)*/, -5, -8, -3, 12 /*mean (0.24774), correlation (0.411416)*/, -10, 5, -9, 0 /*mean (0.00213675), correlation (0.454003)*/, 8, -1, 12, -6 /*mean (0.0293635), correlation (0.455368)*/, 4, -6, 6, -11 /*mean (0.0404971), correlation (0.457393)*/, -10, 12, -8, 7 /*mean (0.0481107), correlation (0.448364)*/, 4, -2, 6, 7 /*mean (0.050641), correlation (0.455019)*/, -2, 0, -2, 12 /*mean (0.0525978), correlation (0.44338)*/, -5, -8, -5, 2 /*mean (0.0629667), correlation (0.457096)*/, 7, -6, 10, 12 /*mean (0.0653846), correlation (0.445623)*/, -9, -13, -8, -8 /*mean (0.0858749), correlation (0.449789)*/, -5, -13, -5, -2 /*mean (0.122402), correlation (0.450201)*/, 8, -8, 9, -13 /*mean (0.125416), correlation (0.453224)*/, -9, -11, -9, 0 /*mean (0.130128), correlation (0.458724)*/, 1, -8, 1, -2 /*mean (0.132467), correlation (0.440133)*/, 7, -4, 9, 1 /*mean (0.132692), correlation (0.454)*/, -2, 1, -1, -4 /*mean (0.135695), correlation (0.455739)*/, 11, -6, 12, -11 /*mean (0.142904), correlation (0.446114)*/, -12, -9, -6, 4 /*mean (0.146165), correlation (0.451473)*/, 3, 7, 7, 12 /*mean (0.147627), correlation (0.456643)*/, 5, 5, 10, 8 /*mean (0.152901), correlation (0.455036)*/, 0, -4, 2, 8 /*mean (0.167083), correlation (0.459315)*/, -9, 12, -5, -13 /*mean (0.173234), correlation (0.454706)*/, 0, 7, 2, 12 /*mean (0.18312), correlation (0.433855)*/, -1, 2, 1, 7 /*mean (0.185504), correlation (0.443838)*/, 5, 11, 7, -9 /*mean (0.185706), correlation (0.451123)*/, 3, 5, 6, -8 /*mean (0.188968), correlation (0.455808)*/, -13, -4, -8, 9 /*mean (0.191667), correlation (0.459128)*/, -5, 9, -3, -3 /*mean (0.193196), correlation (0.458364)*/, -4, -7, -3, -12 /*mean (0.196536), correlation (0.455782)*/, 6, 5, 8, 0 /*mean (0.1972), correlation (0.450481)*/, -7, 6, -6, 12 /*mean (0.199438), correlation (0.458156)*/, -13, 6, -5, -2 /*mean (0.211224), correlation (0.449548)*/, 1, -10, 3, 10 /*mean (0.211718), correlation (0.440606)*/, 4, 1, 8, -4 /*mean (0.213034), correlation (0.443177)*/, -2, -2, 2, -13 /*mean (0.234334), correlation (0.455304)*/, 2, -12, 12, 12 /*mean (0.235684), correlation (0.443436)*/, -2, -13, 0, -6 /*mean (0.237674), correlation (0.452525)*/, 4, 1, 9, 3 /*mean (0.23962), correlation (0.444824)*/, -6, -10, -3, -5 /*mean (0.248459), correlation (0.439621)*/, -3, -13, -1, 1 /*mean (0.249505), correlation (0.456666)*/, 7, 5, 12, -11 /*mean (0.00119208), correlation (0.495466)*/, 4, -2, 5, -7 /*mean (0.00372245), correlation (0.484214)*/, -13, 9, -9, -5 /*mean (0.00741116), correlation (0.499854)*/, 7, 1, 8, 6 /*mean (0.0208952), correlation (0.499773)*/, 7, -8, 7, 6 /*mean (0.0220085), correlation (0.501609)*/, -7, -4, -7, 1 /*mean (0.0233806), correlation (0.496568)*/, -8, 11, -7, -8 /*mean (0.0236505), correlation (0.489719)*/, -13, 6, -12, -8 /*mean (0.0268781), correlation (0.503487)*/, 2, 4, 3, 9 /*mean (0.0323324), correlation (0.501938)*/, 10, -5, 12, 3 /*mean (0.0399235), correlation (0.494029)*/, -6, -5, -6, 7 /*mean (0.0420153), correlation (0.486579)*/, 8, -3, 9, -8 /*mean (0.0548021), correlation (0.484237)*/, 2, -12, 2, 8 /*mean (0.0616622), correlation (0.496642)*/, -11, -2, -10, 3 /*mean (0.0627755), correlation (0.498563)*/, -12, -13, -7, -9 /*mean (0.0829622), correlation (0.495491)*/, -11, 0, -10, -5 /*mean (0.0843342), correlation (0.487146)*/, 5, -3, 11, 8 /*mean (0.0929937), correlation (0.502315)*/, -2, -13, -1, 12 /*mean (0.113327), correlation (0.48941)*/, -1, -8, 0, 9 /*mean (0.132119), correlation (0.467268)*/, -13, -11, -12, -5 /*mean (0.136269), correlation (0.498771)*/, -10, -2, -10, 11 /*mean (0.142173), correlation (0.498714)*/, -3, 9, -2, -13 /*mean (0.144141), correlation (0.491973)*/, 2, -3, 3, 2 /*mean (0.14892), correlation (0.500782)*/, -9, -13, -4, 0 /*mean (0.150371), correlation (0.498211)*/, -4, 6, -3, -10 /*mean (0.152159), correlation (0.495547)*/, -4, 12, -2, -7 /*mean (0.156152), correlation (0.496925)*/, -6, -11, -4, 9 /*mean (0.15749), correlation (0.499222)*/, 6, -3, 6, 11 /*mean (0.159211), correlation (0.503821)*/, -13, 11, -5, 5 /*mean (0.162427), correlation (0.501907)*/, 11, 11, 12, 6 /*mean (0.16652), correlation (0.497632)*/, 7, -5, 12, -2 /*mean (0.169141), correlation (0.484474)*/, -1, 12, 0, 7 /*mean (0.169456), correlation (0.495339)*/, -4, -8, -3, -2 /*mean (0.171457), correlation (0.487251)*/, -7, 1, -6, 7 /*mean (0.175), correlation (0.500024)*/, -13, -12, -8, -13 /*mean (0.175866), correlation (0.497523)*/, -7, -2, -6, -8 /*mean (0.178273), correlation (0.501854)*/, -8, 5, -6, -9 /*mean (0.181107), correlation (0.494888)*/, -5, -1, -4, 5 /*mean (0.190227), correlation (0.482557)*/, -13, 7, -8, 10 /*mean (0.196739), correlation (0.496503)*/, 1, 5, 5, -13 /*mean (0.19973), correlation (0.499759)*/, 1, 0, 10, -13 /*mean (0.204465), correlation (0.49873)*/, 9, 12, 10, -1 /*mean (0.209334), correlation (0.49063)*/, 5, -8, 10, -9 /*mean (0.211134), correlation (0.503011)*/, -1, 11, 1, -13 /*mean (0.212), correlation (0.499414)*/, -9, -3, -6, 2 /*mean (0.212168), correlation (0.480739)*/, -1, -10, 1, 12 /*mean (0.212731), correlation (0.502523)*/, -13, 1, -8, -10 /*mean (0.21327), correlation (0.489786)*/, 8, -11, 10, -6 /*mean (0.214159), correlation (0.488246)*/, 2, -13, 3, -6 /*mean (0.216993), correlation (0.50287)*/, 7, -13, 12, -9 /*mean (0.223639), correlation (0.470502)*/, -10, -10, -5, -7 /*mean (0.224089), correlation (0.500852)*/, -10, -8, -8, -13 /*mean (0.228666), correlation (0.502629)*/, 4, -6, 8, 5 /*mean (0.22906), correlation (0.498305)*/, 3, 12, 8, -13 /*mean (0.233378), correlation (0.503825)*/, -4, 2, -3, -3 /*mean (0.234323), correlation (0.476692)*/, 5, -13, 10, -12 /*mean (0.236392), correlation (0.475462)*/, 4, -13, 5, -1 /*mean (0.236842), correlation (0.504132)*/, -9, 9, -4, 3 /*mean (0.236977), correlation (0.497739)*/, 0, 3, 3, -9 /*mean (0.24314), correlation (0.499398)*/, -12, 1, -6, 1 /*mean (0.243297), correlation (0.489447)*/, 3, 2, 4, -8 /*mean (0.00155196), correlation (0.553496)*/, -10, -10, -10, 9 /*mean (0.00239541), correlation (0.54297)*/, 8, -13, 12, 12 /*mean (0.0034413), correlation (0.544361)*/, -8, -12, -6, -5 /*mean (0.003565), correlation (0.551225)*/, 2, 2, 3, 7 /*mean (0.00835583), correlation (0.55285)*/, 10, 6, 11, -8 /*mean (0.00885065), correlation (0.540913)*/, 6, 8, 8, -12 /*mean (0.0101552), correlation (0.551085)*/, -7, 10, -6, 5 /*mean (0.0102227), correlation (0.533635)*/, -3, -9, -3, 9 /*mean (0.0110211), correlation (0.543121)*/, -1, -13, -1, 5 /*mean (0.0113473), correlation (0.550173)*/, -3, -7, -3, 4 /*mean (0.0140913), correlation (0.554774)*/, -8, -2, -8, 3 /*mean (0.017049), correlation (0.55461)*/, 4, 2, 12, 12 /*mean (0.01778), correlation (0.546921)*/, 2, -5, 3, 11 /*mean (0.0224022), correlation (0.549667)*/, 6, -9, 11, -13 /*mean (0.029161), correlation (0.546295)*/, 3, -1, 7, 12 /*mean (0.0303081), correlation (0.548599)*/, 11, -1, 12, 4 /*mean (0.0355151), correlation (0.523943)*/, -3, 0, -3, 6 /*mean (0.0417904), correlation (0.543395)*/, 4, -11, 4, 12 /*mean (0.0487292), correlation (0.542818)*/, 2, -4, 2, 1 /*mean (0.0575124), correlation (0.554888)*/, -10, -6, -8, 1 /*mean (0.0594242), correlation (0.544026)*/, -13, 7, -11, 1 /*mean (0.0597391), correlation (0.550524)*/, -13, 12, -11, -13 /*mean (0.0608974), correlation (0.55383)*/, 6, 0, 11, -13 /*mean (0.065126), correlation (0.552006)*/, 0, -1, 1, 4 /*mean (0.074224), correlation (0.546372)*/, -13, 3, -9, -2 /*mean (0.0808592), correlation (0.554875)*/, -9, 8, -6, -3 /*mean (0.0883378), correlation (0.551178)*/, -13, -6, -8, -2 /*mean (0.0901035), correlation (0.548446)*/, 5, -9, 8, 10 /*mean (0.0949843), correlation (0.554694)*/, 2, 7, 3, -9 /*mean (0.0994152), correlation (0.550979)*/, -1, -6, -1, -1 /*mean (0.10045), correlation (0.552714)*/, 9, 5, 11, -2 /*mean (0.100686), correlation (0.552594)*/, 11, -3, 12, -8 /*mean (0.101091), correlation (0.532394)*/, 3, 0, 3, 5 /*mean (0.101147), correlation (0.525576)*/, -1, 4, 0, 10 /*mean (0.105263), correlation (0.531498)*/, 3, -6, 4, 5 /*mean (0.110785), correlation (0.540491)*/, -13, 0, -10, 5 /*mean (0.112798), correlation (0.536582)*/, 5, 8, 12, 11 /*mean (0.114181), correlation (0.555793)*/, 8, 9, 9, -6 /*mean (0.117431), correlation (0.553763)*/, 7, -4, 8, -12 /*mean (0.118522), correlation (0.553452)*/, -10, 4, -10, 9 /*mean (0.12094), correlation (0.554785)*/, 7, 3, 12, 4 /*mean (0.122582), correlation (0.555825)*/, 9, -7, 10, -2 /*mean (0.124978), correlation (0.549846)*/, 7, 0, 12, -2 /*mean (0.127002), correlation (0.537452)*/, -1, -6, 0, -11 /*mean (0.127148), correlation (0.547401)*/ }; const int half_patch_size = 8; //计算特征点灰度质心的半径8 const int half_boundary = 16; //描述子用的是周围半径16 //特征提取和匹配 void feature_match(cv::Mat &image1, cv::Mat& image2, vector<cv::KeyPoint>& keypoints1, vector<cv::KeyPoint>& keypoints2, vector<vector<uint32_t>> &descriptor1, vector<vector<uint32_t>>& descriptor2, vector<cv::DMatch>& matches); //计算描述子 int ComputeDesc(vector<cv::KeyPoint> &fastkeypoints1, vector<vector<uint32_t>>& descriptor1, cv::Mat& image1); //根据两个描述子，进行暴力匹配 void Match(vector<vector<uint32_t>> &descriptor1, vector<vector<uint32_t>>& descriptor2, vector<cv::DMatch>& matches, int threshold_distance = 40); //位姿计算 void pose_estimation_2d2d(vector<cv::KeyPoint>& keypoints1, vector<cv::KeyPoint>& keypoints2, vector<cv::DMatch>& matches, cv::Mat& R, cv::Mat& t, cv::Mat& F, cv::Mat& E); //! 主函数 int main(int argc,char** argv) { cv::Mat image11 = cv::imread(argv[1],CV_LOAD_IMAGE_COLOR); //彩色图 cv::Mat image22 = cv::imread(argv[2],CV_LOAD_IMAGE_COLOR); cv::Mat image1(image11.rows,image11.cols,CV_8UC1); cv::Mat image2(image22.rows,image22.cols,CV_8UC1); //灰度图 cv::cvtColor(image11,image1,CV_RGB2GRAY); cv::cvtColor(image22,image2,CV_RGB2GRAY); if(image1.empty() || image2.empty()) { cout<<"image is empty!"<<endl; return -1; } vector<cv::KeyPoint> keypoints1, keypoints2; vector<vector<uint32_t>> descriptor1, descriptor2; vector<cv::DMatch> matches; //特征提取和匹配 /**keypoints1, keypoints2中保存各自提取的特征点 vector<cv::KeyPoint> * matches中保存匹配关系 vector<cv::DMatch> DMatch的queryIdx, trainIdx是前后的匹配点索引 **/ feature_match(image1,image2,keypoints1,keypoints2,descriptor1,descriptor2,matches); cv::Mat R, t; cv::Mat F, E; /**所以根据关键点KeyPoint对，或者Point2f对 * 以及匹配关系DMatch形式，就可以用OpenCV自带的findFundamentalMat(), 或findEssentialMat(), 或findHomography()计算F, E, H * */ pose_estimation_2d2d(keypoints1,keypoints2,matches,R,t,F,E); cout<<"R = "<<R<<endl<<endl; cout<<"t = "<<t<<endl<<endl; double t1 = t.at<double>(0,0); double t2 = t.at<double>(1,0); double t3 = t.at<double>(2,0); cv::Mat t_ = cv::Mat::zeros(3,3,CV_64FC1); t_.at<double>(0,1) = -t3; t_.at<double>(0,2) = t2; t_.at<double>(1,0) = t3 ; t_.at<double>(1,2) = -t1; t_.at<double>(2,0) = -t2; t_.at<double>(2,1) = t1; // cout<<"t_ = "<<t_<<endl; cv::Mat tR = t_*R; cout<<"tR = "<<endl<<tR<<endl<<endl; // cout<<"----------"<<endl<<tR.type()<<endl; tR.convertTo(tR,CV_32FC1); // cout<<"----------"<<endl<<tR.type()<<endl; // 验证极线约束 cv::Mat K= cv::Mat::eye(3,3,CV_32FC1); K.at<float>(0,0)=520.9; K.at<float>(1,1)=521.0; K.at<float>(0,2)=325.1; K.at<float>(1,2)=249.7; cv::Mat inv_K = K.inv(); cout<<"inv_K = "<<endl<<inv_K<<endl; for(int i=0;i<matches.size();i++) { cv::DMatch& m = matches[i]; float u1 = keypoints1[m.queryIdx].pt.x; float v1 = keypoints1[m.queryIdx].pt.y; float u2 = keypoints2[m.trainIdx].pt.x; float v2 = keypoints2[m.trainIdx].pt.y; cv::Mat p1 = (cv::Mat_<float>(3,1)<<u1,v1,1); cv::Mat p2 = (cv::Mat_<float>(3,1)<<u2,v2,1); cv::Mat x1 = cv::Mat::zeros(3,1,CV_32FC1); cv::Mat x2 = cv::Mat::zeros(3,1,CV_32FC1); x1 = inv_K*p1; x2 = inv_K*p2; cv::Mat ABC = cv::Mat::zeros(3,1,CV_32FC1); ABC = tR*x1; // cout<<"ABC = "<<endl<<ABC<<endl; float sqrtAB = sqrt(pow(ABC.at<double>(0,0),2)+pow(ABC.at<double>(1,0),2)); cv::Mat d = x2.t()*ABC; cout<<"d = "<<d<<endl; } return 0; } void feature_match(cv::Mat &image1, cv::Mat& image2, vector<cv::KeyPoint>& fastkeypoints1, vector<cv::KeyPoint>& fastkeypoints2, vector<vector<uint32_t>> &descriptor1, vector<vector<uint32_t>>& descriptor2, vector<cv::DMatch>& matches) { chrono::steady_clock::time_point t1 = chrono::steady_clock::now(); //step1 用OpenCV自带函数 cv::FAST(cv::Mat& image, vector<cv::KeyPoint>& keypoints) 提取FAST角点 cv::FAST(image1,fastkeypoints1,40); cv::FAST(image2,fastkeypoints2,40); // cout<<"fastkeypoints1.size() = "<<fastkeypoints1.size()<<endl; // cout<<"fastkeypoints2.size() = "<<fastkeypoints2.size()<<endl; //计算BRIEF描述子 descriptor1.reserve(fastkeypoints1.size()); descriptor2.reserve(fastkeypoints2.size()); int boundary_point1 = ComputeDesc(fastkeypoints1,descriptor1,image1); int boundary_point2 = ComputeDesc(fastkeypoints2,descriptor2,image2); // cout<<"descriptor1.size() = "<<descriptor1.size()<<endl; // cout<<"descriptor2.size() = "<<descriptor2.size()<<endl; // cout<<"boundary_points1 = "<<boundary_point1<<endl; // cout<<"boundary_points2 = "<<boundary_point2<<endl; chrono::steady_clock::time_point t2 = chrono::steady_clock::now(); chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2-t1); cout<<"特征提取: "<<time_used.count()<<"秒"<<endl; //暴力匹配描述子 t1 = chrono::steady_clock::now(); Match(descriptor1,descriptor2,matches,45); t2 = chrono::steady_clock::now(); time_used = chrono::duration_cast<chrono::duration<double>>(t2-t1); cout<<"匹配时间: "<<time_used.count()<<"秒"<<endl; cout<<"matches.size() = "<<matches.size()<<endl; } int ComputeDesc(vector<cv::KeyPoint> &fastkeypoints, vector<vector<uint32_t>>& descriptor, cv::Mat& image) { int boundary_point=0; for(int i=0;i<fastkeypoints.size();i++) //计算fastkeypoints1的描述子 { // cout<<fastkeypoints[i].pt<<"\t"; int x = fastkeypoints[i].pt.x; int y = fastkeypoints[i].pt.y; //如果关键点离边界太近，描述子就是空的vector if(x<half_boundary || y<half_boundary || x>image.cols-half_boundary || y>image.rows-half_boundary) { boundary_point++; // descriptor.push_back({}); descriptor.push_back(vector<uint32_t>(0,0)); continue; } double m10=0, m01=0; //分别表示dx*灰度 dy*灰度 for(int dx=-half_patch_size;dx<half_patch_size+1;dx++) //缺点，这个圆旋转后不一定对称了 { int y_size = round(sqrt(pow(half_patch_size,2)-pow(dx,2))); // cout<<y_size<<endl; for(int dy=-y_size;dy<y_size+1;dy++) { m10+=dx*image.at<uchar>(y+dy,x+dx); m01+=dy*image.at<uchar>(y+dy,x+dx); } } double tan_theta = m01/m10; // cout<<tan_theta<<endl; double sin_theta = m01/sqrt(pow(m10,2)+pow(m01,2)); double cos_theta = m10/sqrt(pow(m10,2)+pow(m01,2)); vector<uint32_t> desc(8,0); //初始化为8个0 for(int j=0;j<8;j++) { uint32_t des = 0; for(int k=0;k<32;k++) { int ind1 = ORB_pattern[4*(32*j+k)]; int ind2 = ORB_pattern[4*(32*j+k)+1]; int ind3 = ORB_pattern[4*(32*j+k)+2]; int ind4 = ORB_pattern[4*(32*j+k)+3]; int x1 = ind1*cos_theta-ind2*sin_theta + x; //旋转后的标准坐标对应的真实的不旋转的坐标(x1,y1) (x2,y2) int y1 = ind2*cos_theta+ind1*sin_theta + y; int x2 = ind3*cos_theta-ind4*sin_theta + x; int y2 = ind4*cos_theta+ind3*sin_theta + y; if(image.at<uchar>(y1,x1) < image.at<uchar>(y2,x2)) { des = (des<<1);//des左移动一位 des = (des|1);//des最后一位变成1 } else { des<<=1; } } desc[j]=des; // cout<<des<<"\t"<<endl; } descriptor.push_back(desc); //desc1中8个32位数，相当与保存了256个二进制01 } // cout<<descriptor[30][3]<<endl; //调试显示第32个描述子的第3个32位int return boundary_point; } void Match(vector<vector<uint32_t>> &descriptor1, vector<vector<uint32_t>>& descriptor2, vector<cv::DMatch>& matches, const int threshold_distance) { for(int i=0;i<descriptor1.size();i++) { if(descriptor1[i].empty()) { // cout<<"描述子1 空"<<endl; continue; } for(int j=0;j<descriptor2.size();j++) { if(descriptor2[j].empty()) { // cout<<"描述子2 空"<<endl; continue; } int distance = 0; cv::DMatch m(i,0,256); for(int k=0;k<8;k++) { // cout<<"descriptor1[i][k] = "<<descriptor1[i][k]<<"\t"; // cout<<"descriptor2[j][k] = "<<descriptor2[j][k]<<endl; uint32_t dis = ((descriptor1[i][k])^(descriptor2[j][k])); //注意!!!!!!!!!!!这里一定也是uint32_t 在这里调试了好久， 不能是int // cout<<"i:"<<i<<"\tj:"<<j<<"\t"; // cout<<"k:"<<k; // cout<<"\tdis = "<< dis <<endl; while(dis!=0) { distance+=(dis&1); dis=(dis>>1); } } //汉明距离distance计算完毕 // cout<<"distance = "<<distance<<endl; if(distance < threshold_distance) { m.trainIdx = j; m.distance = distance; // cout<<distance<<endl; matches.push_back(m); } } } } void pose_estimation_2d2d(vector<cv::KeyPoint>& keypoints1, vector<cv::KeyPoint>& keypoints2, vector<cv::DMatch>& matches, cv::Mat& R, cv::Mat& t, cv::Mat& F, cv::Mat& E) { cv::Mat K= cv::Mat::eye(3,3,CV_32FC1); K.at<float>(0,0)=520.9; K.at<float>(1,1)=521.0; K.at<float>(0,2)=325.1; K.at<float>(1,2)=249.7; vector<cv::Point2f> points1, points2; //匹配的坐标 for(int i=0;i<matches.size();i++) { points1.push_back(keypoints1[matches[i].queryIdx].pt); points2.push_back(keypoints2[matches[i].trainIdx].pt); } //! 计算基础矩阵F = K-T*E*K-1 F = cv::findFundamentalMat(points1,points2,CV_FM_8POINT,CV_RANSAC, 3.0, 0.98); //8点法 cout<<"F = "<<endl<<F<<endl<<endl; cv::Point2d principal_point(325.1,249.7); //相机光心 double f = 521; //焦距f //计算本质矩阵E= t^R E = cv::findEssentialMat(points1,points2,K); cout<<"E = "<<endl<<E<<endl<<endl; cv::Mat E2 = E.clone(); E2.convertTo(E2,CV_32FC1); cv::Mat K1; cv::invert(K,K1); cout<<"K-T*E*K-1 = "<<endl<<(K1.t()*E2*K1)<<endl<<endl; cout<<"K-T*E*K-1 = "<<endl<<(K.inv().t()*E2*K.inv())<<endl<<endl; cv::Mat H = cv::findHomography(points1,points2,CV_RANSAC,3); cout<<"H = "<<endl<<H<<endl<<endl; //!!! 从本质矩阵E 恢复R 和t cv::recoverPose(E,points1,points2,cv::Mat::eye(3,3,CV_32FC1),R,t); }
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