7.4 对极约束求解相机运动

7.4 程序：对极约束求解相机运动。

主函数

-正常流程

int main ( int argc, char** argv )
{
    if ( argc != 3 )
    {
        cout<<"usage: pose_estimation_2d2d img1 img2"<<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;

find_feature_matches函数说明：
共5个参数：图片1 图片2 特征点1 特征点2 匹配点向量matches
功能为上一节feature_extraction.cpp类似。
对两张图片进行特征点筛选和匹配，将匹配结果存入向量 matches中

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 )

 //-- 估计两张图像间运动
    Mat R,t;
    pose_estimation_2d2d ( keypoints_1, keypoints_2, matches, R, t );

• 重点 pose_estimation_2d_2d函数说明。

void pose_estimation_2d2d ( std::vector<KeyPoint> keypoints_1,
                            std::vector<KeyPoint> keypoints_2,
                            std::vector< DMatch > matches,
                            Mat& R, Mat& t )
                            
/***
参数为两组关键点，响应的匹配向量matches。和矩阵R t的引用

***/
{
    // 相机内参,TUM Freiburg2
    Mat K = ( Mat_<double> ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );

    //-- 把匹配点转换为vector<Point2f>的形式
    vector<Point2f> points1;
    vector<Point2f> points2;

    for ( int i = 0; i < ( int ) matches.size(); i++ )
    {
        points1.push_back ( keypoints_1[matches[i].queryIdx].pt );
        points2.push_back ( keypoints_2[matches[i].trainIdx].pt );
    }

    //-- 计算基础矩阵
    Mat fundamental_matrix;
    fundamental_matrix = findFundamentalMat ( points1, points2, CV_FM_8POINT );
    cout<<"fundamental_matrix is "<<endl<< fundamental_matrix<<endl;

    //-- 计算本质矩阵
    Point2d principal_point ( 325.1, 249.7 );	//相机光心, TUM dataset标定值
    double focal_length = 521;			//相机焦距, TUM dataset标定值
    Mat essential_matrix;
    essential_matrix = findEssentialMat ( points1, points2, focal_length, principal_point );
    cout<<"essential_matrix is "<<endl<< essential_matrix<<endl;

    //-- 计算单应矩阵
    Mat homography_matrix;
    homography_matrix = findHomography ( points1, points2, RANSAC, 3 );
    cout<<"homography_matrix is "<<endl<<homography_matrix<<endl;

    //-- 从本质矩阵中恢复旋转和平移信息.
    recoverPose ( essential_matrix, points1, points2, R, t, focal_length, principal_point );
    cout<<"R is "<<endl<<R<<endl;
    cout<<"t is "<<endl<<t<<endl;
    
}

    //-- 验证E=t^R*scale
    Mat t_x = ( Mat_<double> ( 3,3 ) <<
                0,                      -t.at<double> ( 2,0 ),     t.at<double> ( 1,0 ),
                t.at<double> ( 2,0 ),      0,                      -t.at<double> ( 0,0 ),
                -t.at<double> ( 1,0 ),     t.at<double> ( 0,0 ),      0 );

    cout<<"t^R="<<endl<<t_x*R<<endl;

    //-- 验证对极约束
    Mat K = ( Mat_<double> ( 3,3 ) << 520.9, 0, 325.1, 0, 521.0, 249.7, 0, 0, 1 );
    for ( DMatch m: matches )
    {
        Point2d pt1 = pixel2cam ( keypoints_1[ m.queryIdx ].pt, K );
        Mat y1 = ( Mat_<double> ( 3,1 ) << pt1.x, pt1.y, 1 );
        Point2d pt2 = pixel2cam ( keypoints_2[ m.trainIdx ].pt, K );
        Mat y2 = ( Mat_<double> ( 3,1 ) << pt2.x, pt2.y, 1 );
        Mat d = y2.t() * t_x * R * y1;
        cout << "epipolar constraint = " << d << endl;
    }
    return 0;
}