文章目录
一、概述
SLAM被称为同时定位与建图,前面我们讨论的是定位问题,本讲我们主要介绍建图问题。
关于地图的用途,大致可以归为以下几点:定位、导航、避障、重建、交互。
稀疏地图主要用于定位,而稠密地图用于导航、避障、重建,我们本将重点讨论稠密地图。
二、单目稠密重建
2.1 理论部分
估计稠密深度的完整过程:
1)假设所有像素的深度满足某个初始的高斯分布(我们这里使用的是高斯分布的深度滤波器,也可以使用均匀-高斯混合分布等);
2)新数据产生时,通过极线搜索和块匹配确定投影位置;
3)根据几何关系计算三角化后的深度和不确定性;
4)将当前观测融合(信息融合问题)进上一次估计中;
5)若收敛停止计算,否则返回第二步。
2.2 实践
2.2.1 CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
project(dense_monocular)
set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14 -msse4")
############### dependencies ######################
# Eigen
include_directories("/usr/include/eigen3")
# OpenCV
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# Sophus
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
set(THIRD_PARTY_LIBS
${OpenCV_LIBS}
${Sophus_LIBRARIES})
add_executable(dense_mapping dense_mapping.cpp)
target_link_libraries(dense_mapping ${THIRD_PARTY_LIBS} ${FMT_LIBRARIES} fmt)
2.2.2 代码演示
#include <iostream>
#include <vector>
#include <fstream>
using namespace std;
#include <boost/timer/timer.hpp>
// for sophus
#include <sophus/se3.hpp>
using Sophus::SE3d;
// for eigen
#include <Eigen/Core>
#include <Eigen/Geometry>
using namespace Eigen;
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
using namespace cv;
/**********************************************
* 本程序演示了单目相机在已知轨迹下的稠密深度估计
* 使用极线搜索 + NCC 匹配的方式,与书本的 12.2 节对应
* 请注意本程序并不完美,你完全可以改进它——我其实在故意暴露一些问题(这是借口)。
***********************************************/
// ------------------------------------------------------------------
// parameters
const int boarder = 20; // 边缘宽度
const int width = 640; // 图像宽度
const int height = 480; // 图像高度
const double fx = 481.2f; // 相机内参
const double fy = -480.0f;
const double cx = 319.5f;
const double cy = 239.5f;
const int ncc_window_size = 3; // NCC 取的窗口半宽度
const int ncc_area = (2 * ncc_window_size + 1) * (2 * ncc_window_size + 1); // NCC窗口面积
const double min_cov = 0.1; // 收敛判定:最小方差
const double max_cov = 10; // 发散判定:最大方差
// ------------------------------------------------------------------
// 重要的函数
/// 从 REMODE 数据集读取数据
bool readDatasetFiles(
const string &path,
vector<string> &color_image_files,
vector<SE3d> &poses,
cv::Mat &ref_depth
);
/**
* 根据新的图像更新深度估计
* @param ref 参考图像
* @param curr 当前图像
* @param T_C_R 参考图像到当前图像的位姿
* @param depth 深度
* @param depth_cov 深度方差
* @return 是否成功
*/
bool update(
const Mat &ref,
const Mat &curr,
const SE3d &T_C_R,
Mat &depth,
Mat &depth_cov2
);
/**
* 极线搜索
* @param ref 参考图像
* @param curr 当前图像
* @param T_C_R 位姿
* @param pt_ref 参考图像中点的位置
* @param depth_mu 深度均值
* @param depth_cov 深度方差
* @param pt_curr 当前点
* @param epipolar_direction 极线方向
* @return 是否成功
*/
bool epipolarSearch(
const Mat &ref,
const Mat &curr,
const SE3d &T_C_R,
const Vector2d &pt_ref,
const double &depth_mu,
const double &depth_cov,
Vector2d &pt_curr,
Vector2d &epipolar_direction
);
/**
* 更新深度滤波器
* @param pt_ref 参考图像点
* @param pt_curr 当前图像点
* @param T_C_R 位姿
* @param epipolar_direction 极线方向
* @param depth 深度均值
* @param depth_cov2 深度方向
* @return 是否成功
*/
bool updateDepthFilter(
const Vector2d &pt_ref,
const Vector2d &pt_curr,
const SE3d &T_C_R,
const Vector2d &epipolar_direction,
Mat &depth,
Mat &depth_cov2
);
/**
* 计算 NCC 评分
* @param ref 参考图像
* @param curr 当前图像
* @param pt_ref 参考点
* @param pt_curr 当前点
* @return NCC评分
*/
double NCC(const Mat &ref, const Mat &curr, const Vector2d &pt_ref, const Vector2d &pt_curr);
// 双线性灰度插值
inline double getBilinearInterpolatedValue(const Mat &img, const Vector2d &pt) {
uchar *d = &img.data[int(pt(1, 0)) * img.step + int(pt(0, 0))];
double xx = pt(0, 0) - floor(pt(0, 0));
double yy = pt(1, 0) - floor(pt(1, 0));
return ((1 - xx) * (1 - yy) * double(d[0]) +
xx * (1 - yy) * double(d[1]) +
(1 - xx) * yy * double(d[img.step]) +
xx * yy * double(d[img.step + 1])) / 255.0;
}
// ------------------------------------------------------------------
// 一些小工具
// 显示估计的深度图
void plotDepth(const Mat &depth_truth, const Mat &depth_estimate);
// 像素到相机坐标系
inline Vector3d px2cam(const Vector2d px) {
return Vector3d(
(px(0, 0) - cx) / fx,
(px(1, 0) - cy) / fy,
1
);
}
// 相机坐标系到像素
inline Vector2d cam2px(const Vector3d p_cam) {
return Vector2d(
p_cam(0, 0) * fx / p_cam(2, 0) + cx,
p_cam(1, 0) * fy / p_cam(2, 0) + cy
);
}
// 检测一个点是否在图像边框内
inline bool inside(const Vector2d &pt) {
return pt(0, 0) >= boarder && pt(1, 0) >= boarder
&& pt(0, 0) + boarder < width && pt(1, 0) + boarder <= height;
}
// 显示极线匹配
void showEpipolarMatch(const Mat &ref, const Mat &curr, const Vector2d &px_ref, const Vector2d &px_curr);
// 显示极线
void showEpipolarLine(const Mat &ref, const Mat &curr, const Vector2d &px_ref, const Vector2d &px_min_curr,
const Vector2d &px_max_curr);
/// 评测深度估计
void evaludateDepth(const Mat &depth_truth, const Mat &depth_estimate);
// ------------------------------------------------------------------
int main(int argc, char **argv) {
//if (argc != 2) {
// cout << "Usage: dense_mapping path_to_test_dataset" << endl;
// return -1;
//}
// 从数据集读取数据
vector<string> color_image_files;
vector<SE3d> poses_TWC;
Mat ref_depth;
bool ret = readDatasetFiles("/home/robot/桌面/slambook2-master/ch12/dense_mono/test_data", color_image_files, poses_TWC, ref_depth);
if (ret == false) {
cout << "Reading image files failed!" << endl;
return -1;
}
cout << "read total " << color_image_files.size() << " files." << endl;
// 单目稠密重建:
// 1. 构建第一张图的深度图
Mat ref = imread(color_image_files[0], 0); // gray-scale image
SE3d pose_ref_TWC = poses_TWC[0];
double init_depth = 3.0; // 深度初始值
double init_cov2 = 3.0; // 方差初始值
Mat depth(height, width, CV_64F, init_depth); // 深度图
Mat depth_cov2(height, width, CV_64F, init_cov2); // 深度图方差
// 2. 然后用其他图取更新深度,使得收敛,从而构建出地图
for (int index = 1; index < color_image_files.size(); index++) {
cout << "*** loop " << index << " ***" << endl;
Mat curr = imread(color_image_files[index], 0);
if (curr.data == nullptr) continue;
// 位姿转换
SE3d pose_curr_TWC = poses_TWC[index];
SE3d pose_T_C_R = pose_curr_TWC.inverse() * pose_ref_TWC; // 坐标转换关系: T_C_W * T_W_R = T_C_R
// 对深度图进行更新,这个函数即表示本章的“单目稠密重建”
// 遍历参考帧的每个像素,先在当前帧寻找极线匹配,匹配成功,利用极线匹配结果更新深度图的估计
update(ref, curr, pose_T_C_R, depth, depth_cov2);
// 计算更新后深度图的均方误差和平均误差
evaludateDepth(ref_depth, depth);
// 画出当前深度图、估计更新后的深度图、以及二者深度之差
plotDepth(ref_depth, depth);
// 显示当前彩色图
imshow("image", curr);
waitKey(1);
}
cout << "estimation returns, saving depth map ..." << endl;
imwrite("depth.png", depth);
cout << "done." << endl;
return 0;
}
bool readDatasetFiles(
const string &path,
vector<string> &color_image_files,
std::vector<SE3d> &poses,
cv::Mat &ref_depth) {
ifstream fin(path + "/first_200_frames_traj_over_table_input_sequence.txt");
if (!fin) return false;
while (!fin.eof()) {
// 数据格式:图像文件名 tx, ty, tz, qx, qy, qz, qw ,注意是 TWC 而非 TCW
string image;
fin >> image;
double data[7];
for (double &d:data) fin >> d;
color_image_files.push_back(path + string("/images/") + image);
poses.push_back(
SE3d(Quaterniond(data[6], data[3], data[4], data[5]),
Vector3d(data[0], data[1], data[2]))
);
if (!fin.good()) break;
}
fin.close();
// load reference depth
fin.open(path + "/depthmaps/scene_000.depth");
ref_depth = cv::Mat(height, width, CV_64F);
if (!fin) return false;
for (int y = 0; y < height; y++)
for (int x = 0; x < width; x++) {
double depth = 0;
fin >> depth;
ref_depth.ptr<double>(y)[x] = depth / 100.0;
}
return true;
}
// 对整个深度图进行更新
bool update(const Mat &ref, const Mat &curr, const SE3d &T_C_R, Mat &depth, Mat &depth_cov2) {
for (int x = boarder; x < width - boarder; x++)
for (int y = boarder; y < height - boarder; y++) {
// 遍历每个像素
// 1. 深度已收敛或发散
if (depth_cov2.ptr<double>(y)[x] < min_cov || depth_cov2.ptr<double>(y)[x] > max_cov)
continue;
// 2. 在极线上搜索 (x,y) 的匹配
Vector2d pt_curr;
Vector2d epipolar_direction;
bool ret = epipolarSearch(
ref,
curr,
T_C_R,
Vector2d(x, y),
depth.ptr<double>(y)[x],
sqrt(depth_cov2.ptr<double>(y)[x]),
pt_curr,
epipolar_direction
);
if (ret == false) // 匹配失败
continue;
// 取消该注释以显示匹配
// showEpipolarMatch(ref, curr, Vector2d(x, y), pt_curr);
// 3. 匹配成功,更新深度图
// 利用几何关系计算深度和不确定性,然后当前观测高斯融合,
updateDepthFilter(Vector2d(x, y), pt_curr, T_C_R, epipolar_direction, depth, depth_cov2);
}
return true;
}
// 极线搜索
// 方法见书 12.2 12.3 两节
bool epipolarSearch(
const Mat &ref, const Mat &curr,
const SE3d &T_C_R, const Vector2d &pt_ref,
const double &depth_mu, const double &depth_cov,
Vector2d &pt_curr, Vector2d &epipolar_direction) {
Vector3d f_ref = px2cam(pt_ref);
f_ref.normalize();
Vector3d P_ref = f_ref * depth_mu; // 参考帧的 P 向量
Vector2d px_mean_curr = cam2px(T_C_R * P_ref); // 按深度均值投影的像素
double d_min = depth_mu - 3 * depth_cov, d_max = depth_mu + 3 * depth_cov;
if (d_min < 0.1) d_min = 0.1;
Vector2d px_min_curr = cam2px(T_C_R * (f_ref * d_min)); // 按最小深度投影的像素
Vector2d px_max_curr = cam2px(T_C_R * (f_ref * d_max)); // 按最大深度投影的像素
Vector2d epipolar_line = px_max_curr - px_min_curr; // 极线(线段形式)
epipolar_direction = epipolar_line; // 极线方向
epipolar_direction.normalize();
double half_length = 0.5 * epipolar_line.norm(); // 极线线段的半长度
if (half_length > 100) half_length = 100; // 我们不希望搜索太多东西
// 取消此句注释以显示极线(线段)
// showEpipolarLine( ref, curr, pt_ref, px_min_curr, px_max_curr );
// 在极线上搜索,以深度均值点为中心,左右各取半长度
double best_ncc = -1.0;
Vector2d best_px_curr;
for (double l = -half_length; l <= half_length; l += 0.7) { // l+=sqrt(2)
Vector2d px_curr = px_mean_curr + l * epipolar_direction; // 待匹配点
if (!inside(px_curr))
continue;
// 计算待匹配点与参考帧的 NCC
double ncc = NCC(ref, curr, pt_ref, px_curr);
if (ncc > best_ncc) {
best_ncc = ncc;
best_px_curr = px_curr;
}
}
if (best_ncc < 0.85f) // 只相信 NCC 很高的匹配
return false;
pt_curr = best_px_curr;
return true;
}
double NCC(
const Mat &ref, const Mat &curr,
const Vector2d &pt_ref, const Vector2d &pt_curr) {
// 零均值-归一化互相关
// 先算均值
double mean_ref = 0, mean_curr = 0;
vector<double> values_ref, values_curr; // 参考帧和当前帧的均值
for (int x = -ncc_window_size; x <= ncc_window_size; x++)
for (int y = -ncc_window_size; y <= ncc_window_size; y++) {
double value_ref = double(ref.ptr<uchar>(int(y + pt_ref(1, 0)))[int(x + pt_ref(0, 0))]) / 255.0;
mean_ref += value_ref;
double value_curr = getBilinearInterpolatedValue(curr, pt_curr + Vector2d(x, y));
mean_curr += value_curr;
values_ref.push_back(value_ref);
values_curr.push_back(value_curr);
}
mean_ref /= ncc_area;
mean_curr /= ncc_area;
// 计算 Zero mean NCC
double numerator = 0, demoniator1 = 0, demoniator2 = 0;
for (int i = 0; i < values_ref.size(); i++) {
double n = (values_ref[i] - mean_ref) * (values_curr[i] - mean_curr);
numerator += n;
demoniator1 += (values_ref[i] - mean_ref) * (values_ref[i] - mean_ref);
demoniator2 += (values_curr[i] - mean_curr) * (values_curr[i] - mean_curr);
}
return numerator / sqrt(demoniator1 * demoniator2 + 1e-10); // 防止分母出现零
}
bool updateDepthFilter(
const Vector2d &pt_ref,
const Vector2d &pt_curr,
const SE3d &T_C_R,
const Vector2d &epipolar_direction,
Mat &depth,
Mat &depth_cov2) {
// 不知道这段还有没有人看
// 1. 用三角化计算深度
SE3d T_R_C = T_C_R.inverse();
Vector3d f_ref = px2cam(pt_ref);
f_ref.normalize();
Vector3d f_curr = px2cam(pt_curr);
f_curr.normalize();
// 方程
// d_ref * f_ref = d_cur * ( R_RC * f_cur ) + t_RC
// f2 = R_RC * f_cur
// 转化成下面这个矩阵方程组
// => [ f_ref^T f_ref, -f_ref^T f2 ] [d_ref] [f_ref^T t]
// [ f_2^T f_ref, -f2^T f2 ] [d_cur] = [f2^T t ]
Vector3d t = T_R_C.translation();
Vector3d f2 = T_R_C.so3() * f_curr;
Vector2d b = Vector2d(t.dot(f_ref), t.dot(f2));
Matrix2d A;
A(0, 0) = f_ref.dot(f_ref);
A(0, 1) = -f_ref.dot(f2);
A(1, 0) = -A(0, 1);
A(1, 1) = -f2.dot(f2);
Vector2d ans = A.inverse() * b;
Vector3d xm = ans[0] * f_ref; // ref 侧的结果
Vector3d xn = t + ans[1] * f2; // cur 结果
Vector3d p_esti = (xm + xn) / 2.0; // P的位置,取两者的平均
double depth_estimation = p_esti.norm(); // 深度值
// 2. 计算不确定性(以一个像素为误差)
Vector3d p = f_ref * depth_estimation;
Vector3d a = p - t;
double t_norm = t.norm();
double a_norm = a.norm();
double alpha = acos(f_ref.dot(t) / t_norm);
double beta = acos(-a.dot(t) / (a_norm * t_norm));
Vector3d f_curr_prime = px2cam(pt_curr + epipolar_direction);
f_curr_prime.normalize();
double beta_prime = acos(f_curr_prime.dot(-t) / t_norm);
double gamma = M_PI - alpha - beta_prime;
double p_prime = t_norm * sin(beta_prime) / sin(gamma);
double d_cov = p_prime - depth_estimation;
double d_cov2 = d_cov * d_cov;
// 3. 高斯融合,我们这里使用的是高斯分布的深度滤波器,也可以使用其他形式
double mu = depth.ptr<double>(int(pt_ref(1, 0)))[int(pt_ref(0, 0))];
double sigma2 = depth_cov2.ptr<double>(int(pt_ref(1, 0)))[int(pt_ref(0, 0))];
// 公式P312的式12.6
double mu_fuse = (d_cov2 * mu + sigma2 * depth_estimation) / (sigma2 + d_cov2);
double sigma_fuse2 = (sigma2 * d_cov2) / (sigma2 + d_cov2);
depth.ptr<double>(int(pt_ref(1, 0)))[int(pt_ref(0, 0))] = mu_fuse;
depth_cov2.ptr<double>(int(pt_ref(1, 0)))[int(pt_ref(0, 0))] = sigma_fuse2;
return true;
}
// 后面这些太简单我就不注释了(其实是因为懒)
void plotDepth(const Mat &depth_truth, const Mat &depth_estimate) {
// 关于深度图,我们显示深度值乘以0.4的结果(也就是纯白点),颜色越深,离的越近
imshow("depth_truth", depth_truth * 0.4);
imshow("depth_estimate", depth_estimate * 0.4);
imshow("depth_error", depth_truth - depth_estimate);
waitKey(1);
}
void evaludateDepth(const Mat &depth_truth, const Mat &depth_estimate) {
double ave_depth_error = 0; // 平均误差
double ave_depth_error_sq = 0; // 平方误差
int cnt_depth_data = 0;
for (int y = boarder; y < depth_truth.rows - boarder; y++)
for (int x = boarder; x < depth_truth.cols - boarder; x++) {
double error = depth_truth.ptr<double>(y)[x] - depth_estimate.ptr<double>(y)[x];
ave_depth_error += error;
ave_depth_error_sq += error * error;
cnt_depth_data++;
}
ave_depth_error /= cnt_depth_data;
ave_depth_error_sq /= cnt_depth_data;
cout << "Average squared error = " << ave_depth_error_sq << ", average error: " << ave_depth_error << endl;
}
void showEpipolarMatch(const Mat &ref, const Mat &curr, const Vector2d &px_ref, const Vector2d &px_curr) {
Mat ref_show, curr_show;
cv::cvtColor(ref, ref_show, COLOR_GRAY2BGR);
cv::cvtColor(curr, curr_show, COLOR_GRAY2BGR);
cv::circle(ref_show, cv::Point2f(px_ref(0, 0), px_ref(1, 0)), 5, cv::Scalar(0, 0, 250), 2);
cv::circle(curr_show, cv::Point2f(px_curr(0, 0), px_curr(1, 0)), 5, cv::Scalar(0, 0, 250), 2);
imshow("ref", ref_show);
imshow("curr", curr_show);
waitKey(1);
}
void showEpipolarLine(const Mat &ref, const Mat &curr, const Vector2d &px_ref, const Vector2d &px_min_curr,
const Vector2d &px_max_curr) {
Mat ref_show, curr_show;
cv::cvtColor(ref, ref_show, COLOR_GRAY2BGR);
cv::cvtColor(curr, curr_show, COLOR_GRAY2BGR);
cv::circle(ref_show, cv::Point2f(px_ref(0, 0), px_ref(1, 0)), 5, cv::Scalar(0, 255, 0), 2);
cv::circle(curr_show, cv::Point2f(px_min_curr(0, 0), px_min_curr(1, 0)), 5, cv::Scalar(0, 255, 0), 2);
cv::circle(curr_show, cv::Point2f(px_max_curr(0, 0), px_max_curr(1, 0)), 5, cv::Scalar(0, 255, 0), 2);
cv::line(curr_show, Point2f(px_min_curr(0, 0), px_min_curr(1, 0)), Point2f(px_max_curr(0, 0), px_max_curr(1, 0)),
Scalar(0, 255, 0), 1);
imshow("ref", ref_show);
imshow("curr", curr_show);
waitKey(1);
}
2.2.3 结果
随着迭代的次数进行深度逐渐收敛
2.3 实验分析与讨论
在实际工程中,我们需要考虑很多地方的改进:
1)像素梯度问题
2)逆深度
3)图像间的转换
4)并行化:效率问题
5)平滑型、外点等
三、RGB-D稠密建图
3.1 理论部分
- RGB-D的优点:
1)可以通过传感器测量出深度,不需消耗大量计算资源
2)RGB-D的结构光或飞行原理,保证深度数据对纹理的无关性(即使纯色物体也能测量到它的深度)。 - RGB-D建图的两种方式:
1)将RGB-D转化成点云构建出一个点云地图,然后根据点云地图构建网格地图,或者泊松重建、Surfel重建等构建出地图;
2)将RGB-D转化成点云构建出一个点云地图,然后根据点云地图构建八叉树地图,将一个块不断分成8份,节点存储是否被占据的信息,未占据就不显示,从而节省大量存储空间。
3.2 根据点云构建网格地图
3.2.1 CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS "-std=c++14 -msse4")
# opencv
find_package(OpenCV REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS})
# eigen
include_directories("/usr/include/eigen3/")
# pcl
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
add_definitions(${PCL_DEFINITIONS})
# octomap
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
add_executable(pointcloud_mapping pointcloud_mapping.cpp)
target_link_libraries(pointcloud_mapping ${OpenCV_LIBS} ${PCL_LIBRARIES})
add_executable(octomap_mapping octomap_mapping.cpp)
target_link_libraries(octomap_mapping ${OpenCV_LIBS} ${PCL_LIBRARIES} ${OCTOMAP_LIBRARIES})
add_executable(surfel_mapping surfel_mapping.cpp)
target_link_libraries(surfel_mapping ${OpenCV_LIBS} ${PCL_LIBRARIES})
3.2.2 代码演示
- 构建点云
在建图过程中我们会对点云加一些滤波处理,以获得更好视觉效果。在本程序中,我们使用两种滤波器:外点去除滤波器、体素网格的降采样滤波器。
#include <iostream>
#include <fstream>
using namespace std;
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <Eigen/Geometry>
#include <boost/format.hpp> // for formating strings
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/statistical_outlier_removal.h>
int main(int argc, char **argv) {
vector<cv::Mat> colorImgs, depthImgs; // 彩色图和深度图
vector<Eigen::Isometry3d> poses; // 相机位姿
ifstream fin("/home/robot/桌面/slambook2-master/ch12/dense_RGBD/data/pose.txt");
if (!fin) {
cerr << "cannot find pose file" << endl;
return 1;
}
for (int i = 0; i < 5; i++) {
boost::format fmt("/home/robot/桌面/slambook2-master/ch12/dense_RGBD/data/%s/%d.%s"); //图像文件格式
colorImgs.push_back(cv::imread((fmt % "color" % (i + 1) % "png").str()));
depthImgs.push_back(cv::imread((fmt % "depth" % (i + 1) % "png").str(), -1)); // 使用-1读取原始图像
double data[7] = {0};
for (int i = 0; i < 7; i++) {
fin >> data[i];
}
Eigen::Quaterniond q(data[6], data[3], data[4], data[5]);
Eigen::Isometry3d T(q);
T.pretranslate(Eigen::Vector3d(data[0], data[1], data[2]));
poses.push_back(T);
}
// 计算点云并拼接
// 相机内参
double cx = 319.5;
double cy = 239.5;
double fx = 481.2;
double fy = -480.0;
double depthScale = 5000.0;
cout << "正在将图像转换为点云..." << endl;
// 定义点云使用的格式:这里用的是XYZRGB
typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloud;
// 新建一个点云
PointCloud::Ptr pointCloud(new PointCloud);
for (int i = 0; i < 5; i++) {
PointCloud::Ptr current(new PointCloud);
cout << "转换图像中: " << i + 1 << endl;
cv::Mat color = colorImgs[i];
cv::Mat depth = depthImgs[i];
Eigen::Isometry3d T = poses[i];
for (int v = 0; v < color.rows; v++)
for (int u = 0; u < color.cols; u++) {
unsigned int d = depth.ptr<unsigned short>(v)[u]; // 深度值
if (d == 0) continue; // 为0表示没有测量到
Eigen::Vector3d point;
point[2] = double(d) / depthScale;
point[0] = (u - cx) * point[2] / fx;
point[1] = (v - cy) * point[2] / fy;
Eigen::Vector3d pointWorld = T * point;
PointT p;
p.x = pointWorld[0];
p.y = pointWorld[1];
p.z = pointWorld[2];
p.b = color.data[v * color.step + u * color.channels()];
p.g = color.data[v * color.step + u * color.channels() + 1];
p.r = color.data[v * color.step + u * color.channels() + 2];
current->points.push_back(p);
}
// depth filter and statistical removal
// 去掉深度值无效的点,利用统计滤波器去除孤立点
PointCloud::Ptr tmp(new PointCloud);
pcl::StatisticalOutlierRemoval<PointT> statistical_filter;
statistical_filter.setMeanK(50);
statistical_filter.setStddevMulThresh(1.0);
statistical_filter.setInputCloud(current);
statistical_filter.filter(*tmp);
(*pointCloud) += *tmp;
}
pointCloud->is_dense = false;
cout << "点云共有" << pointCloud->size() << "个点." << endl;
// 利用体素滤波器降采样,保证一定大小的立方体(或称体素)仅有一个点
pcl::VoxelGrid<PointT> voxel_filter;
double resolution = 0.03;
voxel_filter.setLeafSize(resolution, resolution, resolution); // 分辨率设成0.03
PointCloud::Ptr tmp(new PointCloud);
voxel_filter.setInputCloud(pointCloud);
voxel_filter.filter(*tmp);
tmp->swap(*pointCloud);
cout << "滤波之后,点云共有" << pointCloud->size() << "个点." << endl;
pcl::io::savePCDFileBinary("map.pcd", *pointCloud);
return 0;
}
- 根据点云构建网格
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/surfel_smoothing.h>
#include <pcl/surface/mls.h>
#include <pcl/surface/gp3.h>
#include <pcl/surface/impl/mls.hpp>
// typedefs
typedef pcl::PointXYZRGB PointT;
typedef pcl::PointCloud<PointT> PointCloud;
typedef pcl::PointCloud<PointT>::Ptr PointCloudPtr;
typedef pcl::PointXYZRGBNormal SurfelT;
typedef pcl::PointCloud<SurfelT> SurfelCloud;
typedef pcl::PointCloud<SurfelT>::Ptr SurfelCloudPtr;
SurfelCloudPtr reconstructSurface(
const PointCloudPtr &input, float radius, int polynomial_order) {
pcl::MovingLeastSquares<PointT, SurfelT> mls;
pcl::search::KdTree<PointT>::Ptr tree(new pcl::search::KdTree<PointT>);
mls.setSearchMethod(tree);
mls.setSearchRadius(radius);
mls.setComputeNormals(true);
mls.setSqrGaussParam(radius * radius);
mls.setPolynomialFit(polynomial_order > 1);
mls.setPolynomialOrder(polynomial_order);
mls.setInputCloud(input);
SurfelCloudPtr output(new SurfelCloud);
mls.process(*output);
return (output);
}
pcl::PolygonMeshPtr triangulateMesh(const SurfelCloudPtr &surfels) {
// Create search tree*
pcl::search::KdTree<SurfelT>::Ptr tree(new pcl::search::KdTree<SurfelT>);
tree->setInputCloud(surfels);
// Initialize objects
pcl::GreedyProjectionTriangulation<SurfelT> gp3;
pcl::PolygonMeshPtr triangles(new pcl::PolygonMesh);
// Set the maximum distance between connected points (maximum edge length)
gp3.setSearchRadius(0.05);
// Set typical values for the parameters
gp3.setMu(2.5);
gp3.setMaximumNearestNeighbors(100);
gp3.setMaximumSurfaceAngle(M_PI / 4); // 45 degrees
gp3.setMinimumAngle(M_PI / 18); // 10 degrees
gp3.setMaximumAngle(2 * M_PI / 3); // 120 degrees
gp3.setNormalConsistency(true);
// Get result
gp3.setInputCloud(surfels);
gp3.setSearchMethod(tree);
gp3.reconstruct(*triangles);
return triangles;
}
int main(int argc, char **argv) {
// Load the points
PointCloudPtr cloud(new PointCloud);
if (argc == 0 || pcl::io::loadPCDFile("/home/robot/桌面/slambook2-master/ch12/build/dense_RGBD/map.pcd", *cloud)) {
cout << "failed to load point cloud!";
return 1;
}
cout << "point cloud loaded, points: " << cloud->points.size() << endl;
// Compute surface elements
cout << "computing normals ... " << endl;
double mls_radius = 0.05, polynomial_order = 2;
auto surfels = reconstructSurface(cloud, mls_radius, polynomial_order);
// Compute a greedy surface triangulation
cout << "computing mesh ... " << endl;
pcl::PolygonMeshPtr mesh = triangulateMesh(surfels);
cout << "display mesh ... " << endl;
pcl::visualization::PCLVisualizer vis;
vis.addPolylineFromPolygonMesh(*mesh, "mesh frame");
vis.addPolygonMesh(*mesh, "mesh");
vis.resetCamera();
vis.spin();
}
3.2.3 结果
正在将图像转换为点云...
转换图像中: 1
转换图像中: 2
转换图像中: 3
转换图像中: 4
转换图像中: 5
点云共有1309800个点.
滤波之后,点云共有31876个点.
3.3 八叉数地图
3.3.1 CMakeLists.txt
参见3.2.1
3.3.2 代码演示
#include <iostream>
#include <fstream>
using namespace std;
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <octomap/octomap.h> // for octomap
#include <Eigen/Geometry>
#include <boost/format.hpp> // for formating strings
int main(int argc, char **argv) {
vector<cv::Mat> colorImgs, depthImgs; // 彩色图和深度图
vector<Eigen::Isometry3d> poses; // 相机位姿
ifstream fin("/home/robot/桌面/slambook2-master/ch12/dense_RGBD/data/pose.txt");
if (!fin) {
cerr << "cannot find pose file" << endl;
return 1;
}
for (int i = 0; i < 5; i++) {
boost::format fmt("/home/robot/桌面/slambook2-master/ch12/dense_RGBD/data/%s/%d.%s"); //图像文件格式
colorImgs.push_back(cv::imread((fmt % "color" % (i + 1) % "png").str()));
depthImgs.push_back(cv::imread((fmt % "depth" % (i + 1) % "png").str(), -1)); // 使用-1读取原始图像
double data[7] = {0};
for (int i = 0; i < 7; i++) {
fin >> data[i];
}
Eigen::Quaterniond q(data[6], data[3], data[4], data[5]);
Eigen::Isometry3d T(q);
T.pretranslate(Eigen::Vector3d(data[0], data[1], data[2]));
poses.push_back(T);
}
// 计算点云并拼接
// 相机内参
double cx = 319.5;
double cy = 239.5;
double fx = 481.2;
double fy = -480.0;
double depthScale = 5000.0;
cout << "正在将图像转换为 Octomap ..." << endl;
// octomap tree
octomap::OcTree tree(0.01); // 参数为分辨率
for (int i = 0; i < 5; i++) {
cout << "转换图像中: " << i + 1 << endl;
cv::Mat color = colorImgs[i];
cv::Mat depth = depthImgs[i];
Eigen::Isometry3d T = poses[i];
octomap::Pointcloud cloud; // the point cloud in octomap
for (int v = 0; v < color.rows; v++)
for (int u = 0; u < color.cols; u++) {
unsigned int d = depth.ptr<unsigned short>(v)[u]; // 深度值
if (d == 0) continue; // 为0表示没有测量到
Eigen::Vector3d point;
point[2] = double(d) / depthScale;
point[0] = (u - cx) * point[2] / fx;
point[1] = (v - cy) * point[2] / fy;
Eigen::Vector3d pointWorld = T * point;
// 将世界坐标系的点放入点云
cloud.push_back(pointWorld[0], pointWorld[1], pointWorld[2]);
}
// 将点云存入八叉树地图,给定原点,这样可以计算投射线
tree.insertPointCloud(cloud, octomap::point3d(T(0, 3), T(1, 3), T(2, 3)));
}
// 更新中间节点的占据信息并写入磁盘
tree.updateInnerOccupancy();
cout << "saving octomap ... " << endl;
tree.writeBinary("octomap.bt");
return 0;
}