原3.2.0-dev http://docs.opencv.org/master/d4/d18/tutorial_sfm_scene_reconstruction.html
目标
在本教程中,您将学习如何使用重建api稀疏重建:
- 加载和图像文件的路径。
- libmv重建传递途径运行。
- 使用即显示结果。
模块安装
https://blog.csdn.net/KYJL888/article/details/72843166
明德殿例子
用法和结果
为了运行此示例,我们需要指定图像路径文件的路径,除了中心投影坐标(以像素为单位)之外,还指定摄像机的焦距。
米德尔伯里寺
使用以下图像序列[1]和以下相机参数,我们可以计算稀疏三维重建:
./example_sfm_scene_reconstruction image_paths_file.txt 800 400 225
下图显示了获得的相机运动以及估计的稀疏三维重建:
2.圣家堂
使用以下图像序列[2]和以下相机参数,我们可以计算稀疏三维重建:
./example_sfm_scene_reconstruction image_paths_file.txt 350 240 360
下图显示了获得的相机运动以及估计的稀疏三维重建:
[1] http://vision.middlebury.edu/mview/data
[2] Penate Sanchez,A。和Moreno-Noguer,F。和Andrade Cetto,J。和Fleuret,F。(2014)。 LETHA:从高质量输入中学习低质量图像中的3D姿态估计。 国际3D视觉会议(3DV)会议录。 网址
Code
#include <opencv2/sfm.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include <iostream>
#include <fstream>
using namespace std;
using namespace cv;
using namespace cv::sfm;
static void help() {
cout
<< "\n------------------------------------------------------------------------------------\n"
<< " This program shows the multiview reconstruction capabilities in the \n"
<< " OpenCV Structure From Motion (SFM) module.\n"
<< " It reconstruct a scene from a set of 2D images \n"
<< " Usage:\n"
<< " example_sfm_scene_reconstruction <path_to_file> <f> <cx> <cy>\n"
<< " where: path_to_file is the file absolute path into your system which contains\n"
<< " the list of images to use for reconstruction. \n"
<< " f is the focal lenght in pixels. \n"
<< " cx is the image principal point x coordinates in pixels. \n"
<< " cy is the image principal point y coordinates in pixels. \n"
<< "------------------------------------------------------------------------------------\n\n"
<< endl;
}
int getdir(const string _filename, vector<String> &files)
{
ifstream myfile(_filename.c_str());
if (!myfile.is_open()) {
cout << "Unable to read file: " << _filename << endl;
exit(0);
} else {;
size_t found = _filename.find_last_of("/\\");
string line_str, path_to_file = _filename.substr(0, found);
while ( getline(myfile, line_str) )
files.push_back(path_to_file+string("/")+line_str);
}
return 1;
}
int main(int argc, char* argv[])
{
// Read input parameters
if ( argc != 5 )
{
help();
exit(0);
}
// Parse the image paths
vector<String> images_paths;
getdir( argv[1], images_paths );
// Build instrinsics
float f = atof(argv[2]),
cx = atof(argv[3]), cy = atof(argv[4]);
Matx33d K = Matx33d( f, 0, cx,
0, f, cy,
0, 0, 1);
/// Reconstruct the scene using the 2d images
bool is_projective = true;
vector<Mat> Rs_est, ts_est, points3d_estimated;
reconstruct(images_paths, Rs_est, ts_est, K, points3d_estimated, is_projective);
// Print output
cout << "\n----------------------------\n" << endl;
cout << "Reconstruction: " << endl;
cout << "============================" << endl;
cout << "Estimated 3D points: " << points3d_estimated.size() << endl;
cout << "Estimated cameras: " << Rs_est.size() << endl;
cout << "Refined intrinsics: " << endl << K << endl << endl;
cout << "3D Visualization: " << endl;
cout << "============================" << endl;
/// Create 3D windows
viz::Viz3d window("Coordinate Frame");
window.setWindowSize(Size(500,500));
window.setWindowPosition(Point(150,150));
window.setBackgroundColor(); // black by default
// Create the pointcloud
cout << "Recovering points ... ";
// recover estimated points3d
vector<Vec3f> point_cloud_est;
for (int i = 0; i < points3d_estimated.size(); ++i)
point_cloud_est.push_back(Vec3f(points3d_estimated[i]));
cout << "[DONE]" << endl;
/// Recovering cameras
cout << "Recovering cameras ... ";
vector<Affine3d> path;
for (size_t i = 0; i < Rs_est.size(); ++i)
path.push_back(Affine3d(Rs_est[i],ts_est[i]));
cout << "[DONE]" << endl;
/// Add the pointcloud
if ( point_cloud_est.size() > 0 )
{
cout << "Rendering points ... ";
viz::WCloud cloud_widget(point_cloud_est, viz::Color::green());
window.showWidget("point_cloud", cloud_widget);
cout << "[DONE]" << endl;
}
else
{
cout << "Cannot render points: Empty pointcloud" << endl;
}
/// Add cameras
if ( path.size() > 0 )
{
cout << "Rendering Cameras ... ";
window.showWidget("cameras_frames_and_lines", viz::WTrajectory(path, viz::WTrajectory::BOTH, 0.1, viz::Color::green()));
window.showWidget("cameras_frustums", viz::WTrajectoryFrustums(path, K, 0.1, viz::Color::yellow()));
window.setViewerPose(path[0]);
cout << "[DONE]" << endl;
}
else
{
cout << "Cannot render the cameras: Empty path" << endl;
}
/// Wait for key 'q' to close the window
cout << endl << "Press 'q' to close each windows ... " << endl;
window.spin();
return 0;
}
§ reconstruct() [3/4]
void cv::sfm::reconstruct | ( | const std::vector< String > | images, |
OutputArray | Ps, | ||
OutputArray | points3d, | ||
InputOutputArray | K, | ||
bool | is_projective = false | ||
) |
在执行自动校准的同时从2d图像重建3d点。
参数
images | 带有图像路径的字符串向量。 |
Ps | 输出向量与每个图像的3x4投影矩阵。 |
points3d | 具有估计的3d点的输出数组。 |
K | 输入/输出相机矩阵。 输入参数用作初始猜测。 |
is_projective | 如果是真的,相机应该是投射的。 |
该方法调用以下签名并从估计的K,R和t中提取投影矩阵。
注意
- 图像必须按照图像序列进行排序。 此外,每个框架应尽可能靠近前一个和后一个框架。
- 目前,DAISY功能用于计算2d点轨迹,它仅适用于3-4个图像。
___________________________________________
§ reconstruct() [4/4]
void cv::sfm::reconstruct | ( | const std::vector< String > | images, |
OutputArray | Rs, | ||
OutputArray | Ts, | ||
InputOutputArray | K, | ||
OutputArray | points3d, | ||
bool | is_projective = false | ||
) |
在执行自动校准的同时从2d图像重建3d点。
参数
images | 带有图像路径的字符串向量。 |
Rs | 摄像机3x3旋转的输出矢量。 |
Ts | 相机的3x1平移的输出矢量。 |
points3d | 具有估计的3d点的输出数组。 |
ķ | 输入/输出相机矩阵\(K = \ vecthreethree {f_x} {0} {c_x} {0} {f_y} {c_y} {0} {0} {1} \)。 输入参数用作初始猜测。 |
is_projective | 如果是真的,相机应该是投射的。 |
通过实例化SFMLibmvEuclideanReconstruction类,在内部调用libmv简单管道例程和一些默认参数。
注意
- 图像必须按照图像序列进行排序。 此外,每个框架应尽可能靠近前一个和后一个框架。
- 目前,DAISY功能用于计算2d点轨道,它仅适用于3-4个图像。
- 要查看场景重建的工作示例,请查看以下教程: 场景重建 。
说明
首先,我们需要加载包含图像路径列表的文件,以便为重建api提供信息:
/home/eriba/software/opencv_contrib/modules/sfm/samples/data/images/resized_IMG_2889.jpg
/home/eriba/software/opencv_contrib/modules/sfm/samples/data/images/resized_IMG_2890.jpg
/home/eriba/software/opencv_contrib/modules/sfm/samples/data/images/resized_IMG_2891.jpg
/home/eriba/software/opencv_contrib/modules/sfm/samples/data/images/resized_IMG_2892.jpg
...
int getdir( const string _filename,vector <string>&files)
其次,建造的容器将用于重建api.重要的是,估计结果必须存储在矢量<Mat>中。 在这种情况下,称为真实图像的重载签名,从图像中,使用DAISY描述符在内部提取和计算稀疏的2d特征,以便使用FlannBasedMatcher进行匹配并构建轨迹结构。
bool is_projective = true ;
vector <Mat> Rs_est,ts_est,points3d_estimated;
reconstruct (images_paths,Rs_est,ts_est,K,points3d_estimated,is_projective);
//打印输出
cout << “\ n ---------------------------- \ n” << endl;
cout << “重建:” << endl;
cout << “============================” << endl;
cout << “估计的3D点数:” << points3d_estimated.size()<< endl;
cout << “估计相机:” << Rs_est.size()<< endl;
cout << “Refined intrinsics:” << endl << K << endl << endl;
最后,获得的结果将显示在Viz中。