随手笔记——3D−3D：ICP求解

原理参见 https://blog.csdn.net/jppdss/article/details/131919483

使用 SVD 求解 ICP

使用两幅 RGB-D 图像，通过特征匹配获取两组 3D 点，最后用 ICP 计算它们的位姿变换。

void pose_estimation_3d3d(const vector<Point3f> &pts1,const vector<Point3f> &pts2,Mat &R, Mat &t) {Point3f p1, p2;     // center of massint N = pts1.size();for (int i = 0; i < N; i++) {p1 += pts1[i];p2 += pts2[i];}p1 = Point3f(Vec3f(p1) / N);p2 = Point3f(Vec3f(p2) / N);vector<Point3f> q1(N), q2(N); // remove the centerfor (int i = 0; i < N; i++) {q1[i] = pts1[i] - p1;q2[i] = pts2[i] - p2;}// compute q1*q2^TEigen::Matrix3d W = Eigen::Matrix3d::Zero();for (int i = 0; i < N; i++) {W += Eigen::Vector3d(q1[i].x, q1[i].y, q1[i].z) * Eigen::Vector3d(q2[i].x, q2[i].y, q2[i].z).transpose();}cout << "W=" << W << endl;// SVD on WEigen::JacobiSVD<Eigen::Matrix3d> svd(W, Eigen::ComputeFullU | Eigen::ComputeFullV);Eigen::Matrix3d U = svd.matrixU();Eigen::Matrix3d V = svd.matrixV();cout << "U=" << U << endl;cout << "V=" << V << endl;Eigen::Matrix3d R_ = U * (V.transpose());if (R_.determinant() < 0) {R_ = -R_;}Eigen::Vector3d t_ = Eigen::Vector3d(p1.x, p1.y, p1.z) - R_ * Eigen::Vector3d(p2.x, p2.y, p2.z);// convert to cv::MatR = (Mat_<double>(3, 3) <<R_(0, 0), R_(0, 1), R_(0, 2),R_(1, 0), R_(1, 1), R_(1, 2),R_(2, 0), R_(2, 1), R_(2, 2));t = (Mat_<double>(3, 1) << t_(0, 0), t_(1, 0), t_(2, 0));
}

使用非线性优化来求解 ICP

使用两幅 RGB-D 图像，通过特征匹配获取两组 3D 点，最后用非线性优化计算它们的位姿变换。

/// vertex and edges used in g2o ba
class VertexPose : public g2o::BaseVertex<6, Sophus::SE3d> {
public:EIGEN_MAKE_ALIGNED_OPERATOR_NEW;virtual void setToOriginImpl() override {_estimate = Sophus::SE3d();}/// left multiplication on SE3virtual void oplusImpl(const double *update) override {Eigen::Matrix<double, 6, 1> update_eigen;update_eigen << update[0], update[1], update[2], update[3], update[4], update[5];_estimate = Sophus::SE3d::exp(update_eigen) * _estimate;}virtual bool read(istream &in) override {}virtual bool write(ostream &out) const override {}
};/// g2o edge
class EdgeProjectXYZRGBDPoseOnly : public g2o::BaseUnaryEdge<3, Eigen::Vector3d, VertexPose> {
public:EIGEN_MAKE_ALIGNED_OPERATOR_NEW;EdgeProjectXYZRGBDPoseOnly(const Eigen::Vector3d &point) : _point(point) {}virtual void computeError() override {const VertexPose *pose = static_cast<const VertexPose *> ( _vertices[0] );_error = _measurement - pose->estimate() * _point;}virtual void linearizeOplus() override {VertexPose *pose = static_cast<VertexPose *>(_vertices[0]);Sophus::SE3d T = pose->estimate();Eigen::Vector3d xyz_trans = T * _point;_jacobianOplusXi.block<3, 3>(0, 0) = -Eigen::Matrix3d::Identity();_jacobianOplusXi.block<3, 3>(0, 3) = Sophus::SO3d::hat(xyz_trans);}bool read(istream &in) {}bool write(ostream &out) const {}protected:Eigen::Vector3d _point;
};void bundleAdjustment(const vector<Point3f> &pts1,const vector<Point3f> &pts2,Mat &R, Mat &t) {// 构建图优化，先设定g2otypedef g2o::BlockSolverX BlockSolverType;typedef g2o::LinearSolverDense<BlockSolverType::PoseMatrixType> LinearSolverType; // 线性求解器类型// 梯度下降方法，可以从GN, LM, DogLeg 中选auto solver = new g2o::OptimizationAlgorithmLevenberg(g2o::make_unique<BlockSolverType>(g2o::make_unique<LinearSolverType>()));g2o::SparseOptimizer optimizer;     // 图模型optimizer.setAlgorithm(solver);   // 设置求解器optimizer.setVerbose(true);       // 打开调试输出// vertexVertexPose *pose = new VertexPose(); // camera posepose->setId(0);pose->setEstimate(Sophus::SE3d());optimizer.addVertex(pose);// edgesfor (size_t i = 0; i < pts1.size(); i++) {EdgeProjectXYZRGBDPoseOnly *edge = new EdgeProjectXYZRGBDPoseOnly(Eigen::Vector3d(pts2[i].x, pts2[i].y, pts2[i].z));edge->setVertex(0, pose);edge->setMeasurement(Eigen::Vector3d(pts1[i].x, pts1[i].y, pts1[i].z));edge->setInformation(Eigen::Matrix3d::Identity());optimizer.addEdge(edge);}chrono::steady_clock::time_point t1 = chrono::steady_clock::now();optimizer.initializeOptimization();optimizer.optimize(10);chrono::steady_clock::time_point t2 = chrono::steady_clock::now();chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);cout << "optimization costs time: " << time_used.count() << " seconds." << endl;cout << endl << "after optimization:" << endl;cout << "T=\n" << pose->estimate().matrix() << endl;// convert to cv::MatEigen::Matrix3d R_ = pose->estimate().rotationMatrix();Eigen::Vector3d t_ = pose->estimate().translation();R = (Mat_<double>(3, 3) <<R_(0, 0), R_(0, 1), R_(0, 2),R_(1, 0), R_(1, 1), R_(1, 2),R_(2, 0), R_(2, 1), R_(2, 2));t = (Mat_<double>(3, 1) << t_(0, 0), t_(1, 0), t_(2, 0));
}

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