python opencv 三维重建_基于OpenCV做“三维重建”（4）--相机姿态还原和实现三维重建...

/*------------------------------------------------------------------------------------------*\

This file contains material supporting chapter 11 of the book:

OpenCV3 Computer Vision Application Programming Cookbook

Third Edition

by Robert Laganiere, Packt Publishing, 2016.

This program is free software; permission is hereby granted to use, copy, modify,

and distribute this source code, or portions thereof, for any purpose, without fee,

subject to the restriction that the copyright notice may not be removed

or altered from any source or altered source distribution.

The software is released on an as-is basis and without any warranties of any kind.

In particular, the software is not guaranteed to be fault-tolerant or free from failure.

The author disclaims all warranties with regard to this software, any use,

and any consequent failure, is purely the responsibility of the user.

Copyright (C) 2016 Robert Laganiere, www.laganiere.name

\*------------------------------------------------------------------------------------------*/

#include "stdafx.h"

#include

#include

#include

#include

#include

#include

int main()

{

// Read the camera calibration parameters

cv::Mat cameraMatrix;

cv::Mat cameraDistCoeffs;

cv::FileStorage fs("calib.xml", cv::FileStorage::READ);

fs["Intrinsic"] >> cameraMatrix;

fs["Distortion"] >> cameraDistCoeffs;

std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;

std::cout << cameraMatrix.at(0, 0) << " " << cameraMatrix.at(0, 1) << " " << cameraMatrix.at(0, 2) << std::endl;

std::cout << cameraMatrix.at(1, 0) << " " << cameraMatrix.at(1, 1) << " " << cameraMatrix.at(1, 2) << std::endl;

std::cout << cameraMatrix.at(2, 0) << " " << cameraMatrix.at(2, 1) << " " << cameraMatrix.at(2, 2) << std::endl << std::endl;

cv::Matx33d cMatrix(cameraMatrix);

// Input image points

std::vector imagePoints;

imagePoints.push_back(cv::Point2f(136, 113));

imagePoints.push_back(cv::Point2f(379, 114));

imagePoints.push_back(cv::Point2f(379, 150));

imagePoints.push_back(cv::Point2f(138, 135));

imagePoints.push_back(cv::Point2f(143, 146));

imagePoints.push_back(cv::Point2f(381, 166));

imagePoints.push_back(cv::Point2f(345, 194));

imagePoints.push_back(cv::Point2f(103, 161));

// Input object points

std::vector objectPoints;

objectPoints.push_back(cv::Point3f(0, 45, 0));

objectPoints.push_back(cv::Point3f(242.5, 45, 0));

objectPoints.push_back(cv::Point3f(242.5, 21, 0));

objectPoints.push_back(cv::Point3f(0, 21, 0));

objectPoints.push_back(cv::Point3f(0, 9, -9));

objectPoints.push_back(cv::Point3f(242.5, 9, -9));

objectPoints.push_back(cv::Point3f(242.5, 9, 44.5));

objectPoints.push_back(cv::Point3f(0, 9, 44.5));

// Read image

cv::Mat image = cv::imread("e:/template/bench2.jpg");

// Draw image points

for (int i = 0; i < 8; i++) {

cv::circle(image, imagePoints[i], 3, cv::Scalar(0, 0, 0),2);

}

cv::imshow("An image of a bench", image);

// Create a viz window

cv::viz::Viz3d visualizer("Viz window");

visualizer.setBackgroundColor(cv::viz::Color::white());

/// Construct the scene

// Create a virtual camera

cv::viz::WCameraPosition cam(cMatrix, // matrix of intrinsics

image, // image displayed on the plane

30.0, // scale factor

cv::viz::Color::black());

// Create a virtual bench from cuboids

cv::viz::WCube plane1(cv::Point3f(0.0, 45.0, 0.0),

cv::Point3f(242.5, 21.0, -9.0),

true, // show wire frame

cv::viz::Color::blue());

plane1.setRenderingProperty(cv::viz::LINE_WIDTH, 4.0);

cv::viz::WCube plane2(cv::Point3f(0.0, 9.0, -9.0),

cv::Point3f(242.5, 0.0, 44.5),

true, // show wire frame

cv::viz::Color::blue());

plane2.setRenderingProperty(cv::viz::LINE_WIDTH, 4.0);

// Add the virtual objects to the environment

visualizer.showWidget("top", plane1);

visualizer.showWidget("bottom", plane2);

visualizer.showWidget("Camera", cam);

// Get the camera pose from 3D/2D points

cv::Mat rvec, tvec;

cv::solvePnP(objectPoints, imagePoints, // corresponding 3D/2D pts

cameraMatrix, cameraDistCoeffs, // calibration

rvec, tvec); // output pose

std::cout << " rvec: " << rvec.rows << "x" << rvec.cols << std::endl;

std::cout << " tvec: " << tvec.rows << "x" << tvec.cols << std::endl;

cv::Mat rotation;

// convert vector-3 rotation

// to a 3x3 rotation matrix

cv::Rodrigues(rvec, rotation);

// Move the bench

cv::Affine3d pose(rotation, tvec);

visualizer.setWidgetPose("top", pose);

visualizer.setWidgetPose("bottom", pose);

// visualization loop

while(cv::waitKey(100)==-1 && !visualizer.wasStopped())

{

visualizer.spinOnce(1, // pause 1ms

true); // redraw

}

return 0;

}