opencv三维重建_基于OpenCV和C++的多视图三维重建

前两张图采用本质矩阵计算RT的方法，然后三角测量计算三维坐标。具体原理可以百度。

后面的增量图采用PnP的方法。通过计算图2图3匹配点和图1图2匹配点的公共部分，而图1和图2已经重建完成了，这些公共部分都是有点云坐标的，则直接PnP求解RT。

#pragma once
#include <opencv2xfeatures2dnonfree.hpp>
#include <opencv2features2dfeatures2d.hpp>
#include <opencv2highguihighgui.hpp>
#include <opencv2calib3dcalib3d.hpp>
#include <fstream>
//#include <opencv2>
#include <iostream>
#include <vector>

using namespace std;
using namespace cv;
class ImageBag
{
public:
	ImageBag(Mat, Mat);
	~ImageBag();
	void SetKeyPoints(vector<KeyPoint>, Mat);
	void SetStructIdx(vector<int>);
	//公用参数
	Mat Image;
	Mat K;
	vector<KeyPoint> Key_points;
	Mat Descriptor;
	Mat R;
	Mat T;
	//特征点所对应的空间点在点云中的索引
	vector<int> Correspond_struct_idx;
private:
	
};

ImageBag::ImageBag(Mat image, Mat k)
{
	Image = image;
	K = k;
}

ImageBag::~ImageBag()
{
	if (!Image.empty())
	{
		Image.release();
	}
	if (!K.empty())
	{
		K.release();
	}
}
void ImageBag::SetStructIdx(vector<int> index)
{
	Correspond_struct_idx = index;
}
void ImageBag::SetKeyPoints(vector<KeyPoint> keyPoints, Mat descriptor)
{
	Key_points = keyPoints;
	Descriptor = descriptor;
	//根据keyPoints来初始化Correspond_struct_idx
	for (int i = 0; i < keyPoints.size(); i++)
	{
		Correspond_struct_idx.push_back(-1);
	}

}

以上是每一张图的实体类，包含了每一个图的一些信息。后面代码写起来会比较清晰。

#pragma once
#include <opencv2xfeatures2dnonfree.hpp>
#include <opencv2features2dfeatures2d.hpp>
#include <opencv2highguihighgui.hpp>
#include <opencv2calib3dcalib3d.hpp>
#include <fstream>
#include "ImageBag.h"
//#include <opencv2>
#include <iostream>
using namespace cv;
using namespace std;
static class _3DBuilder
{
public:
	_3DBuilder();
	~_3DBuilder();
	static void ExtractFeatures(vector<ImageBag>&);
	static void MatchFeatures(Mat, Mat, vector<DMatch>&);
	static void GetMatchedPoints(vector<KeyPoint>, vector<KeyPoint>, vector<DMatch>, vector<Point2f>&, vector<Point2f>&);
	static bool FindTransform(Mat, vector<Point2f>, vector<Point2f>, Mat&, Mat&, Mat&);
	static void MaskoutPoints(vector<Point2f>&, Mat&);
	static void Reconstruct(Mat&, Mat&, Mat&, Mat&, Mat&, vector<Point2f>&, vector<Point2f>&, vector<Point3f>&);
private:

};

_3DBuilder::_3DBuilder()
{
}

_3DBuilder::~_3DBuilder()
{
}

#pragma region 方法

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