特征检测与匹配(三维重建task1-3)
#include <math/matrix_svd.h>
#include "math/matrix.h"
#include "math/vector.h"
typedef math::Matrix<double, 3, 3> FundamentalMatrix;
FundamentalMatrix fundamental_8_point (math::Matrix<double, 3, 8> const& points1
, math::Matrix<double, 3, 8> const& points2
){
FundamentalMatrix F;
return F;
#if 0
/* direct linear transform */
math::Matrix<double, 8, 9> A;
for(int i=0; i<8; i++)
{
math::Vec3d p1 = points1.col(i);
math::Vec3d p2 = points2.col(i);
A(i, 0) = p1[0]*p2[0];
A(i, 1) = p1[1]*p2[0];
A(i, 2) = p2[0];
A(i, 3) = p1[0]*p2[1];
A(i, 4) = p1[1]*p2[1];
A(i, 5) = p2[1];
A(i, 6) = p1[0];
A(i, 7) = p1[1];
A(i, 8) = 1.0;
}
math::Matrix<double, 9, 9> vv;
math::matrix_svd<double, 8, 9>(A, nullptr, nullptr, &vv);
math::Vector<double, 9> f = vv.col(8);
FundamentalMatrix F;
F(0,0) = f[0]; F(0,1) = f[1]; F(0,2) = f[2];
F(1,0) = f[3]; F(1,1) = f[4]; F(1,2) = f[5];
F(2,0) = f[6]; F(2,1) = f[7]; F(2,2) = f[8];
/* singularity constraint */
math::Matrix<double, 3, 3> U, S, V;
math::matrix_svd(F, &U, &S, &V);
S(2,2)=0;
F = U*S*V.transpose();
return F;
#endif
}
int main(int argc, char*argv[])
{
// 第一幅图像中的对应点
math::Matrix<double, 3, 8> pset1;
pset1(0, 0) = 0.180123 ; pset1(1, 0)= -0.156584; pset1(2, 0)=1.0;
pset1(0, 1) = 0.291429 ; pset1(1, 1)= 0.137662 ; pset1(2, 1)=1.0;
pset1(0, 2) = -0.170373; pset1(1, 2)= 0.0779329; pset1(2, 2)=1.0;
pset1(0, 3) = 0.235952 ; pset1(1, 3)= -0.164956; pset1(2, 3)=1.0;
pset1(0, 4) = 0.142122 ; pset1(1, 4)= -0.216048; pset1(2, 4)=1.0;
pset1(0, 5) = -0.463158; pset1(1, 5)= -0.132632; pset1(2, 5)=1.0;
pset1(0, 6) = 0.0801864; pset1(1, 6)= 0.0236417; pset1(2, 6)=1.0;
pset1(0, 7) = -0.179068; pset1(1, 7)= 0.0837119; pset1(2, 7)=1.0;
//第二幅图像中的对应
math::Matrix<double, 3, 8> pset2;
pset2(0, 0) = 0.208264 ; pset2(1, 0)= -0.035405 ; pset2(2, 0) = 1.0;
pset2(0, 1) = 0.314848 ; pset2(1, 1)= 0.267849 ; pset2(2, 1) = 1.0;
pset2(0, 2) = -0.144499; pset2(1, 2)= 0.190208 ; pset2(2, 2) = 1.0;
pset2(0, 3) = 0.264461 ; pset2(1, 3)= -0.0404422; pset2(2, 3) = 1.0;
pset2(0, 4) = 0.171033 ; pset2(1, 4)= -0.0961747; pset2(2, 4) = 1.0;
pset2(0, 5) = -0.427861; pset2(1, 5)= 0.00896567; pset2(2, 5) = 1.0;
pset2(0, 6) = 0.105406 ; pset2(1, 6)= 0.140966 ; pset2(2, 6) = 1.0;
pset2(0, 7) = -0.15257; pset2(1, 7)= 0.19645 ; pset2(2, 7) = 1.0;
FundamentalMatrix F = fundamental_8_point(pset1, pset2);
std::cout<<"Fundamental matrix after singularity constraint is:\n "<<F<<std::endl;
std::cout<<"Result should be: \n"<<"-0.0315082 -0.63238 0.16121\n"
<<"0.653176 -0.0405703 0.21148\n"
<<"-0.248026 -0.194965 -0.0234573\n" <<std::endl;
return 0;
}
解析
//Created by sway on 2018/8/29.
/* 测试8点法求取基础矩阵F
*
* [直接线性变换法]
* 双目视觉中相机之间存在对极约束
*
* p2'Fp1=0,
*
* 其中p1, p2 为来自两个视角的匹配对的归一化坐标,并表示成齐次坐标形式,
* 即p1=[x1, y1, z1]', p2=[x2, y2, z2],将p1, p2的表达形式带入到
* 上式中,可以得到如下表达形式
*
* [x2] [f11, f12, f13] [x1, y1, z1]
* [y2] [f21, f22, f23] = 0
* [z2] [f31, f32, f33]
*
* 进一步可以得到
* x1*x2*f11 + x2*y1*f12 + x2*f13 + x1*y2*f21 + y1*y2*f22 + y2*f23 + x1*f31 + y1*f32 + f33=0
*
* 写成向量形式
* [x1*x2, x2*y1,x2, x1*y2, y1*y2, y2, x1, y1, 1]*f = 0,
* 其中f=[f11, f12, f13, f21, f22, f23, f31, f32, f33]'
*
* 由于F无法确定尺度(up to scale, 回想一下三维重建是无法确定场景真实尺度的),因此F秩为8,
* 这意味着至少需要8对匹配对才能求的f的解。当刚好有8对点时,称为8点法。当匹配对大于8时需要用最小二乘法进行求解
*
* [x11*x12, x12*y11,x12, x11*y12, y11*y12, y12, x11, y11, 1]
* [x21*x22, x22*y21,x22, x21*y22, y21*y22, y22, x21, y21, 1]
* [x31*x32, x32*y31,x32, x31*y32, y31*y32, y32, x31, y31, 1]
* A=[x41*x42, x42*y41,x42, x41*y42, y41*y42, y42, x41, y41, 1]
* [x51*x52, x52*y51,x52, x51*y52, y51*y52, y52, x51, y51, 1]
* [x61*x62, x62*y61,x62, x61*y62, y61*y62, y62, x61, y61, 1]
* [x71*x72, x72*y71,x72, x71*y72, y71*y72, y72, x71, y71, 1]
* [x81*x82, x82*y81,x82, x81*y22, y81*y82, y82, x81, y81, 1]
*
*现在任务变成了求解线性方程
* Af = 0
*(该方程与min||Af||, subject to ||f||=1 等价)
*通常的解法是对A进行SVD分解,取最小奇异值对应的奇异向量作为f分解
*
*本项目中对矩阵A的svd分解并获取其最小奇异值对应的奇异向量的代码为
* math::Matrix<double, 9, 9> V;
* math::matrix_svd<double, 8, 9>(A, nullptr, nullptr, &V);
* math::Vector<double, 9> f = V.col(8);
*
*
*[奇异性约束]
* 基础矩阵F的一个重要的性质是F是奇异的,秩为2,因此有一个奇异值为0。通过上述直接线性法求得
* 矩阵不具有奇异性约束。常用的方法是将求得得矩阵投影到满足奇异约束得空间中。
* 具体地,对F进行奇异值分解
* F = USV'
* 其中S是对角矩阵,S=diag[sigma1, sigma2, sigma3]
* 将sigma3设置为0,并重构F
* [sigma1, 0, ,0]
* F = U [ 0 , sigma2 ,0] V'
* [ 0 , 0 ,0]
*/
## 效果
图片1
图片2
效果图1(默认的最近邻+最近邻距离比的结果)
效果图2(去掉最近邻距离比的结果)
特别说明:要得到效果图2直接编译单个文件事行不通的,因为代码缺少这两张图片的路径,需要cmake编译整个目录,然后在bulid文件夹内找到对应编译好的可执行文件。讲太多没意思,还是直接送上操作比较好!
1.先把源码中./ImageBasedModellingEdu/features/matching.h的第169行及下面几行的代码注释掉
2.请在终端下执行以下操作:
cd ~/ImageBasedModellingEdu
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8