三张图区别多页和单页应用模式

三维重建是一种通过多张像或多个视角来还原三维物体的技术。在Python中,有许多库可以用来进行三维重建,如OpenCV、Matplotlib、NumPy、Mayavi等。这里提供一种基于OpenCV和NumPy的简单实现方法,步骤如下: 1. 读取多张像 ```python import cv2 import numpy as np img1 = cv2.imread('img1.jpg') img2 = cv2.imread('img2.jpg') img3 = cv2.imread('img3.jpg') ``` 2. 提取特征点 利用SIFT算法或SURF算法提取像中的特征点,这里使用SIFT算法: ```python sift = cv2.xfeatures2d.SIFT_create() kp1, des1 = sift.detectAndCompute(img1, None) kp2, des2 = sift.detectAndCompute(img2, None) kp3, des3 = sift.detectAndCompute(img3, None) ``` 3. 匹配特征点 利用FLANN算法进行特征点匹配: ```python FLANN_INDEX_KDTREE = 1 flann_params = dict(algorithm=FLANN_INDEX_KDTREE, trees=5) matcher = cv2.FlannBasedMatcher(flann_params, {}) matches12 = matcher.knnMatch(des1, des2, 2) matches23 = matcher.knnMatch(des2, des3, 2) ``` 4. 计算相机位姿 利用三张像中的特征点,采用PnP算法计算相机的位姿: ```python MIN_MATCH_COUNT = 10 good12 = [] for m, n in matches12: if m.distance < 0.7 * n.distance: good12.append(m) if len(good12) > MIN_MATCH_COUNT: src_pts = np.float32([kp1[m.queryIdx].pt for m in good12]).reshape(-1, 1, 2) dst_pts = np.float32([kp2[m.trainIdx].pt for m in good12]).reshape(-1, 1, 2) K = np.array([[1000, 0, img1.shape[1] / 2], [0, 1000, img1.shape[0] / 2], [0, 0, 1]]) _, rvec12, tvec12, inliers = cv2.solvePnPRansac(dst_pts, src_pts, K, np.zeros((4, 1))) else: print("Not enough matches are found - {}/{}".format(len(good12), MIN_MATCH_COUNT)) good23 = [] for m, n in matches23: if m.distance < 0.7 * n.distance: good23.append(m) if len(good23) > MIN_MATCH_COUNT: src_pts = np.float32([kp2[m.queryIdx].pt for m in good23]).reshape(-1, 1, 2) dst_pts = np.float32([kp3[m.trainIdx].pt for m in good23]).reshape(-1, 1, 2) K = np.array([[1000, 0, img2.shape[1] / 2], [0, 1000, img2.shape[0] / 2], [0, 0, 1]]) _, rvec23, tvec23, inliers = cv2.solvePnPRansac(dst_pts, src_pts, K, np.zeros((4, 1))) else: print("Not enough matches are found - {}/{}".format(len(good23), MIN_MATCH_COUNT)) ``` 5. 三维重建 根据相机位姿,利用三角测量的方法进行三维重建: ```python def triangulate_points(pose1, pose2, pts1, pts2): pose1 = pose1.reshape((3, 4)) pose2 = pose2.reshape((3, 4)) proj1 = np.dot(K, pose1) proj2 = np.dot(K, pose2) pts4d = cv2.triangulatePoints(proj1, proj2, pts1.T, pts2.T) pts3d = cv2.convertPointsFromHomogeneous(pts4d.T) return pts3d[:, :, 0] pts1 = np.float32([kp1[m.queryIdx].pt for m in good12]).reshape(-1, 1, 2) pts2 = np.float32([kp2[m.trainIdx].pt for m in good12]).reshape(-1, 1, 2) pts3 = np.float32([kp2[m.queryIdx].pt for m in good23]).reshape(-1, 1, 2) pts4 = np.float32([kp3[m.trainIdx].pt for m in good23]).reshape(-1, 1, 2) pts12 = triangulate_points(rvec12, rvec23, pts1, pts2) pts23 = triangulate_points(rvec23, rvec12, pts4, pts3) ``` 6. 可视化 将三维重建的结果可视化: ```python from mayavi import mlab mlab.figure(bgcolor=(1, 1, 1)) mlab.points3d(pts12[:, 0], pts12[:, 1], pts12[:, 2], color=(1, 0, 0), mode='point') mlab.points3d(pts23[:, 0], pts23[:, 1], pts23[:, 2], color=(0, 1, 0), mode='point') mlab.show() ``` 以上就是基于OpenCV和NumPy的三维重建方法,需要注意的是,这里只提供了基本的思路和代码,具体实现还需要根据具体的需求进行调整和优化。
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