《视觉SLAM十四讲（高翔著）》 第9讲

最新推荐文章于 2024-06-07 10:14:15 发布
最新推荐文章于 2024-06-07 10:14:15 发布
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《视觉SLAM十四讲（高翔著）》 第9讲 前端搭建

这里写目录标题

一、搭建VO框架

1、框架结构

在这里插入图片描述

  • bin用来存放可执行二进制文件
  • include/myslam存放SLAM模块文件
  • src存放源代码文件
  • lib放置编译好的库文件
  • config放置配置文件
  • cmake_modules第三方库cmake文件
  • data是自行新建的文件夹，用于存放数据集

2、SLAM模块文件

camera.h、map.h、frame.h、mappoint.h文件放在 include/myslam文件夹下

（1）camera.h文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef CAMERA_H
#define CAMERA_H

#include "myslam/common_include.h"

namespace myslam
{

// Pinhole RGBD camera model
class Camera
{
public:
    typedef std::shared_ptr<Camera> Ptr;
    float   fx_, fy_, cx_, cy_, depth_scale_;

    Camera();
    Camera ( float fx, float fy, float cx, float cy, float depth_scale=0 ) :
        fx_ ( fx ), fy_ ( fy ), cx_ ( cx ), cy_ ( cy ), depth_scale_ ( depth_scale )
    {}

    // coordinate transform: world, camera, pixel
    Vector3d world2camera( const Vector3d& p_w, const SE3& T_c_w );
    Vector3d camera2world( const Vector3d& p_c, const SE3& T_c_w );
    Vector2d camera2pixel( const Vector3d& p_c );
    Vector3d pixel2camera( const Vector2d& p_p, double depth=1 ); 
    Vector3d pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth=1 );
    Vector2d world2pixel ( const Vector3d& p_w, const SE3& T_c_w );

};

}
#endif // CAMERA_H
（2）map.h文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef MAP_H
#define MAP_H

#include "myslam/common_include.h"
#include "myslam/frame.h"
#include "myslam/mappoint.h"

namespace myslam
{
class Map
{
public:
    typedef shared_ptr<Map> Ptr;
    unordered_map<unsigned long, MapPoint::Ptr >  map_points_;        // all landmarks
    unordered_map<unsigned long, Frame::Ptr >     keyframes_;         // all key-frames

    Map() {}
    
    void insertKeyFrame( Frame::Ptr frame );
    void insertMapPoint( MapPoint::Ptr map_point );
};
}

#endif // MAP_H
（3）frame.h文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef FRAME_H
#define FRAME_H

#include "myslam/common_include.h"
#include "myslam/camera.h"

namespace myslam 
{
    
// forward declare 
class MapPoint;
class Frame
{
public:
    typedef std::shared_ptr<Frame> Ptr;
    unsigned long                  id_;         // id of this frame
    double                         time_stamp_; // when it is recorded
    SE3                            T_c_w_;      // transform from world to camera
    Camera::Ptr                    camera_;     // Pinhole RGBD Camera model 
    Mat                            color_, depth_; // color and depth image 
    // std::vector<cv::KeyPoint>      keypoints_;  // key points in image
    // std::vector<MapPoint*>         map_points_; // associated map points
    bool                           is_key_frame_;  // whether a key-frame
    
public: // data members 
    Frame();
    Frame( long id, double time_stamp=0, SE3 T_c_w=SE3(), Camera::Ptr camera=nullptr, Mat color=Mat(), Mat depth=Mat() );
    ~Frame();
    
    static Frame::Ptr createFrame(); 
    
    // find the depth in depth map
    double findDepth( const cv::KeyPoint& kp );
    
    // Get Camera Center
    Vector3d getCamCenter() const;

    void setPose( const SE3& T_c_w );
    
    // check if a point is in this frame 
    bool isInFrame( const Vector3d& pt_world );
};

}

#endif // FRAME_H
（4）mappoint.h文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#ifndef MAPPOINT_H
#define MAPPOINT_H

#include "myslam/common_include.h"

namespace myslam
{
    
class Frame;
class MapPoint
{
public:
    typedef shared_ptr<MapPoint> Ptr;
    unsigned long      id_;        // ID
    static unsigned long factory_id_;    // factory id
    bool        good_;      // wheter a good point 
    Vector3d    pos_;       // Position in world
    Vector3d    norm_;      // Normal of viewing direction 
    Mat         descriptor_; // Descriptor for matching 
    
    list<Frame*>    observed_frames_;   // key-frames that can observe this point 
    
    int         matched_times_;     // being an inliner in pose estimation
    int         visible_times_;     // being visible in current frame 
    
    MapPoint();
    MapPoint( 
        unsigned long id, 
        const Vector3d& position, 
        const Vector3d& norm, 
        Frame* frame=nullptr, 
        const Mat& descriptor=Mat() 
    );
    
    inline cv::Point3f getPositionCV() const {
        return cv::Point3f( pos_(0,0), pos_(1,0), pos_(2,0) );
    }
    
    static MapPoint::Ptr createMapPoint();
    static MapPoint::Ptr createMapPoint( 
        const Vector3d& pos_world, 
        const Vector3d& norm_,
        const Mat& descriptor,
        Frame* frame );
};
}

#endif // MAPPOINT_H

3、源文件代码

源文件代码均存放在src文件目录下

（1）camera.cpp文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "myslam/camera.h"
#include <myslam/config.h>

namespace myslam
{
    
Camera::Camera()
{
    fx_ = Config::get<float>("camera.fx");
    fy_ = Config::get<float>("camera.fy");
    cx_ = Config::get<float>("camera.cx");
    cy_ = Config::get<float>("camera.cy");
    depth_scale_ = Config::get<float>("camera.depth_scale");
}

Vector3d Camera::world2camera ( const Vector3d& p_w, const SE3& T_c_w )
{
    return T_c_w*p_w;
}

Vector3d Camera::camera2world ( const Vector3d& p_c, const SE3& T_c_w )
{
    return T_c_w.inverse() *p_c;
}

Vector2d Camera::camera2pixel ( const Vector3d& p_c )
{
    return Vector2d (
               fx_ * p_c ( 0,0 ) / p_c ( 2,0 ) + cx_,
               fy_ * p_c ( 1,0 ) / p_c ( 2,0 ) + cy_
           );
}

Vector3d Camera::pixel2camera ( const Vector2d& p_p, double depth )
{
    return Vector3d (
               ( p_p ( 0,0 )-cx_ ) *depth/fx_,
               ( p_p ( 1,0 )-cy_ ) *depth/fy_,
               depth
           );
}

Vector2d Camera::world2pixel ( const Vector3d& p_w, const SE3& T_c_w )
{
    return camera2pixel ( world2camera(p_w, T_c_w) );
}

Vector3d Camera::pixel2world ( const Vector2d& p_p, const SE3& T_c_w, double depth )
{
    return camera2world ( pixel2camera ( p_p, depth ), T_c_w );
}


}
（2）map.cpp文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "myslam/map.h"

namespace myslam
{

void Map::insertKeyFrame ( Frame::Ptr frame )
{
    cout<<"Key frame size = "<<keyframes_.size()<<endl;
    if ( keyframes_.find(frame->id_) == keyframes_.end() )
    {
        keyframes_.insert( make_pair(frame->id_, frame) );
    }
    else
    {
        keyframes_[ frame->id_ ] = frame;
    }
}

void Map::insertMapPoint ( MapPoint::Ptr map_point )
{
    if ( map_points_.find(map_point->id_) == map_points_.end() )
    {
        map_points_.insert( make_pair(map_point->id_, map_point) );
    }
    else 
    {
        map_points_[map_point->id_] = map_point;
    }
}


}
（3）frame.cpp文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "myslam/frame.h"

namespace myslam
{
Frame::Frame()
: id_(-1), time_stamp_(-1), camera_(nullptr), is_key_frame_(false)
{

}

Frame::Frame ( long id, double time_stamp, SE3 T_c_w, Camera::Ptr camera, Mat color, Mat depth )
: id_(id), time_stamp_(time_stamp), T_c_w_(T_c_w), camera_(camera), color_(color), depth_(depth), is_key_frame_(false)
{

}

Frame::~Frame()
{

}

Frame::Ptr Frame::createFrame()
{
    static long factory_id = 0;
    return Frame::Ptr( new Frame(factory_id++) );
}

double Frame::findDepth ( const cv::KeyPoint& kp )
{
    int x = cvRound(kp.pt.x);
    int y = cvRound(kp.pt.y);
    ushort d = depth_.ptr<ushort>(y)[x];
    if ( d!=0 )
    {
        return double(d)/camera_->depth_scale_;
    }
    else 
    {
        // check the nearby points 
        int dx[4] = {-1,0,1,0};
        int dy[4] = {0,-1,0,1};
        for ( int i=0; i<4; i++ )
        {
            d = depth_.ptr<ushort>( y+dy[i] )[x+dx[i]];
            if ( d!=0 )
            {
                return double(d)/camera_->depth_scale_;
            }
        }
    }
    return -1.0;
}

void Frame::setPose ( const SE3& T_c_w )
{
    T_c_w_ = T_c_w;
}


Vector3d Frame::getCamCenter() const
{
    return T_c_w_.inverse().translation();
}

bool Frame::isInFrame ( const Vector3d& pt_world )
{
    Vector3d p_cam = camera_->world2camera( pt_world, T_c_w_ );
    // cout<<"P_cam = "<<p_cam.transpose()<<endl;
    if ( p_cam(2,0)<0 ) return false;
    Vector2d pixel = camera_->world2pixel( pt_world, T_c_w_ );
    // cout<<"P_pixel = "<<pixel.transpose()<<endl<<endl;
    return pixel(0,0)>0 && pixel(1,0)>0 
        && pixel(0,0)<color_.cols 
        && pixel(1,0)<color_.rows;
}

}
（4）mappoint.cpp文件
/*
 * <one line to give the program's name and a brief idea of what it does.>
 * Copyright (C) 2016  <copyright holder> <email>
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include "myslam/common_include.h"
#include "myslam/mappoint.h"

namespace myslam
{

MapPoint::MapPoint()
: id_(-1), pos_(Vector3d(0,0,0)), norm_(Vector3d(0,0,0)), good_(true), visible_times_(0), matched_times_(0)
{

}

MapPoint::MapPoint ( long unsigned int id, const Vector3d& position, const Vector3d& norm, Frame* frame, const Mat& descriptor )
: id_(id), pos_(position), norm_(norm), good_(true), visible_times_(1), matched_times_(1), descriptor_(descriptor)
{
    observed_frames_.push_back(frame);
}

MapPoint::Ptr MapPoint::createMapPoint()
{
    return MapPoint::Ptr( 
        new MapPoint( factory_id_++, Vector3d(0,0,0), Vector3d(0,0,0) )
    );
}

MapPoint::Ptr MapPoint::createMapPoint ( 
    const Vector3d& pos_world, 
    const Vector3d& norm, 
    const Mat& descriptor, 
    Frame* frame )
{
    return MapPoint::Ptr( 
        new MapPoint( factory_id_++, pos_world, norm, frame, descriptor )
    );
}

unsigned long MapPoint::factory_id_ = 0;

}

以上仅为前端搭建的部分代码，《视觉SLAM十四讲（高翔著）》 第9讲中所涉及代码可在其github下载。

二、视觉里程计设计

1、测试数据集的准备

（1）数据集fr1_xyz下载

下载地址：
https://vision.in.tum.de/data/datasets/rgbd-dataset/download#
选择下载：fr1/xyz

（2）相关文件配置

①解压后的文件夹放在程序所在路径下，本人放置的路径：/home/…/project/0.2/data
其中data是自行新建的文件夹。
② 复制associate.py文件（/home/…/tools）到数据集目录/home/…/project/0.2/data/rgbd_dataset_freiburg1_xyz，在该目录下打开终端运行指令：

python associate.py rgb.txt depth.txt > associate.txt

于该目录下生成associate.txt文件，双击打开可看到数据对齐信息。

③对config/default.yaml进行修改，将自己的数据集路径（/home/…/project/0.2/data/rgbd_dataset_freiburg1_xyz）替换进去，之后保存该文件并关闭。

2、程序编译运行

在/home/…/project/0.2目录下打开终端，依次输入命令

mkdir build
cd build
cmake ..
make
cd ..
bin/run_vo config/default.yaml

运行成功后会出现如下界面：
在这里插入图片描述

是陆小鹿啊
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《视觉SLAM十四讲》是高翔撰写的一本关于同时定位与地图构建（Simultaneous Localization and Mapping，简称SLAM）的专业书籍，旨在为读者提供SLAM领域的基础知识和核心算法。该书涵盖了从数学理论到计算机视觉算法...
视觉slam十四讲
02-22
9. **学习资源**：《视觉SLAM十四讲》作为一套完整的教程，可能涵盖从基础理论到高级主题的讲解，适合初学者入门和进阶者深入研究。 通过学习这个资源，读者不仅可以理解SLAM的基本原理，还能掌握实际应用中的技巧...
初谈SLAM十四讲——第9讲代码解析
weixin_41148932的博客
04-28 1376
本文从主函数出发逐步剖析第九讲中project4.0，初学SLAM，个人知识学习有限，望各位大佬批评指正。 主函数 int main ( int argc, char** argv ) { if ( argc != 2 ) { cout<<"usage: run_vo parameter_file"<<endl; ...
《SLAM 14讲》：第九讲 - 视觉里程计完整实现过程 1.0
Simon的博客
05-01 1554
这讲主要是视觉里程计部分的实现，大部分代码就直接用《SALM 14讲》上的了，目标是输出所有关键帧的位姿。
视觉slam14讲——第9讲 设计前端
leeayu的博客
12-04 4086
本系列文章是记录学习高翔所著《视觉slam14讲》的内容总结，文中的主要文字和代码、图片都是引用自课本和高翔博士的博客。代码运行效果是在自己电脑上实际运行得出。手动记录主要是为了深入理解 涉及到的主要内容如下 设计一个视觉里程计前端 理解slam软件框架的搭建 理解前端设计容易出现的问题及解决方式 [TOC] 1 搭建VO框架1.1 确定程序框架 bin用来存放可执行二进制文件 include/
《视觉SLAM十四讲 第9章设计前端》总结
Michell_guo的博客
11-05 238
第9章设计前端讲解了如何设计一个前端，这里自己也做个总结。 1、一个完整的工程项目的文件夹组织框架一般包含以下7个部分。 1）bin： 用来存放二进制文件 2）include/slam： 存放头文件 3）src： 存放源代码 4）test： 存放测试用的文件 5）lib： 存放编译好的库文件 6）config： 存放配置文件 7）cmake_modules：第三方库的cmakes文件，在使用g2o之类的库时会用到它 搭建好文件夹组织框架后，确定基本数据结构，即主要有哪几个类，以及它们之的
【slam十四讲第二版】【课本例题代码向】【第九讲~后端Ⅰ】【安装Meshlab】【BAL数据集格式】【ceres求解BA】【g2o求解BA】
qq_45954434的博客
07-25 1676
视觉SLAM十四讲CH9代码解析及课后习题详解。
视觉SLAM十四讲（第一版）第九讲VO Project笔记
qq_42731705的博客
10-29 1585
1.Project 0.1 1.1.编译工程时Sophus报错 fatal error: sophus/se3.h: 没有那个文件或目录 这个博客中写的非常好。首先分析原因是Sophus库的版本不同，有的是模板类实现，有的不是。另外博客中详细写了如何安装两个版本的Sophus，对其他库也适用，很有参考价值。 1.2.编译非模板类的Sophus时报错 Sophus/sophus/so2.cpp:33:26:error: lvalue required as left operand of assignment
视觉SLAM十四讲-第九讲笔记
pikachu_777的专栏
11-11 2473
本讲搭建了一个完整的前端框架。在匹配方案上，使用了相邻两帧匹配、与地图匹配两种方法；在位姿估计方法上，使用了PNP方法、PNP+bundle adjustment的方法。 这份代码实现的只有位姿估计和优化，虽然是PnP，但没有估计3d点深度，而是从深度图中取出的。也没有优化地图中特征点的位置。 一、程序框架 1. 数据结构 1.1. camera 相机内参，实现坐标转换。 成员变量 相机内参数 成...
视觉SLAM十四讲——第九讲VO0.4版流程详解
tanyong_98的博客
07-24 1052
前言：视觉SLAM十四讲是很多初学者第一次接触SLAM的入门书，不得不说，这本书真的是一本很不错的书。不仅有理论知识，而且还有详细的程序例程，很适合初学者。本文着重介绍第九讲中VO0…4版的流程及原理，对于VO0.1版介绍的数据结构不做介绍，如有不懂的请参考视觉SLAM十四讲。 VO0.4版总体流程 相关文件读取 相关文件读取：读取 default.yaml 中的内容，包括数据集的地址，相机内...
高翔视觉slam十四讲
08-25
高翔视觉SLAM（Simultaneous Localization and Mapping）十四讲是一本关于视觉SLAM算法和实践的教材，其中包含了完整的代码实现。在这本教材中，作者提供了一个已经下载好的文件夹，里面包含了完整的代码文件，可以...

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