视觉slam14讲第二版ch7的pose_estimation_2d2d.cpp的代码注释（自己理解的）

最新推荐文章于 2022-11-29 21:32:40 发布

DADAPAPA

最新推荐文章于 2022-11-29 21:32:40 发布

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分类专栏：视觉slam 14讲视觉slam学习文章标签：计算机视觉 slam

本文链接：https://blog.youkuaiyun.com/DADAPAPA/article/details/116243451

本文基于作者的理解，详细注释了视觉SLAM14讲第二版中Chapter 7的pose_estimation_2d2d.cpp源码，探讨2D特征匹配下的位姿估计问题。

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按我自己的理解，注释了视觉slam14讲第二版ch7的pose_estimation_2d2d.cpp

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>

using namespace std;
using namespace cv;


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);

void pose_estimation_2d2d(
        std::vector<KeyPoint> keypoints_1,
        std::vector<KeyPoint> keypoints_2,
        std::vector<DMatch> matches,
        Mat &R, Mat &t);

// 像素坐标转相机归一化坐标
Point2d pixel2cam(const Point2d &p, const Mat &K);

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);
    assert(img_1.data && img_2.data && "Can not load images!");

    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;

    //-- 估计两张图像间运动
    Mat R,