基于ORB特征点匹配的对极几何约束实现（源码+讲解）

//前几篇博客说了双目校正回顾一下代码

stereoCalibrate(objectPoints, image_leftPoints,  image_rightPoints, intrinsic_left, distCoeffs_left, intrinsic_right, distCoeffs_right, s1, R_total, T_total, E, F);
		printf("Starting Rectification\n");
stereoRectify(intrinsic_left, distCoeffs_left, intrinsic_right, distCoeffs_right, s1, R_total, T_total, R_L, R_R, P1, P2, Q, CALIB_ZERO_DISPARITY, -1, s1, &validROIL, &validROIR);

//这种校正方式，实现通过物点像点内参以及畸变矩阵求得两个相机相对的R,T
//再将R,T拆分成左右相机的r,t

//参考SLAM十四讲的解法，思路是先求出ORB匹配点(我上一篇博客有源码)，通过匹配点，焦距f,光轴与成像面的交点坐标求出E，SVD方法分解E求出两个相机相对的R，T

  //计算本质矩阵
        Point2d principal_point(3251,249.7);//相机光心 标定值
        double focal_lengh=521 ;//相机焦距
        Mat essential_matrix;
        essential_matrix=findEssentialMat(points1,points2,focal_lengh,principal_point);
        cout<<"essential_matrix is"<<endl<<essential_matrix<<endl;
         //从本质矩阵恢复旋转，平移
        recoverPose(essential_matrix,points1,points2,R,t,focal_lengh,principal_point);
        cout<<"R :"<<R<<endl;
        cout<<"t is"<<t<<endl;

//先求ORB匹配点

oid 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
  //FeatureDetector是虚类，通过定义FeatureDetector对象使用多种特征检测方法  
  Ptr<FeatureDetector> detector = ORB::create();
  
  //DescriptorExtractor提取关键点的描述子基类
  Ptr<DescriptorExtractor> descriptor = ORB::create();

  //描述子匹配方式，此处是汉明距离
  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
  //match中存放匹配的描述子信息
  vector<DMatch> match;
  matcher->match(descriptors_1, descriptors_2