计算机视觉学习 静态和动态增强现实

一、将静态正方体方体放到图片上

运行截图：
　　　　　
　　　　　
　　　　　
　实验代码：

　from pylab import *
from PIL import Image

# If you have PCV installed, these imports should work
from PCV.geometry import homography, camera
from PCV.localdescriptors import sift

"""
This is the augmented reality and pose estimation cube example from Section 4.3.
"""


def cube_points(c, wid):
    """ Creates a list of points for plotting
        a cube with plot. (the first 5 points are
        the bottom square, some sides repeated). """
    p = []
    # bottom
    p.append([c[0] - wid, c[1] - wid, c[2] - wid])
    p.append([c[0] - wid, c[1] + wid, c[2] - wid])
    p.append([c[0] + wid, c[1] + wid, c[2] - wid])
    p.append([c[0] + wid, c[1] - wid, c[2] - wid])
    p.append([c[0] - wid, c[1] - wid, c[2] - wid])  # same as first to close plot

    # top
    p.append([c[0] - wid, c[1] - wid, c[2] + wid])
    p.append([c[0] - wid, c[1] + wid, c[2] + wid])
    p.append([c[0] + wid, c[1] + wid, c[2] + wid])
    p.append([c[0] + wid, c[1] - wid, c[2] + wid])
    p.append([c[0] - wid, c[1] - wid, c[2] + wid])  # same as first to close plot

    # vertical sides
    p.append([c[0] - wid, c[1] - wid, c[2] + wid])
    p.append([c[0] - wid, c[1] + wid, c[2] + wid])
    p.append([c[0] - wid, c[1] + wid, c[2] - wid])
    p.append([c[0] + wid, c[1] + wid, c[2] - wid])
    p.append([c[0] + wid, c[1] + wid, c[2] + wid])
    p.append([c[0] + wid, c[1] - wid, c[2] + wid])
    p.append([c[0] + wid, c[1] - wid, c[2] - wid])

    return array(p).T


def my_calibration(sz):
    """
    Calibration function for the camera (iPhone4) used in this example.
    """
    row, col = sz
    fx = 2555 * col / 2592
    fy = 2586 * row / 1936
    K = diag([fx, fy, 1])
    K[0, 2] = 0.5 * col
    K[1, 2] = 0.5 * row
    return K


# compute features
sift.process_image('book_frontal.JPG', 'im0.sift')
l0, d0 = sift.read_features_from_file('im0.sift')

sift.process_image('book_perspective.JPG', 'im1.sift')
l1, d1 = sift.read_features_from_file('im1.sift')

# match features and estimate homography
matches = sift.match_twosided(d0, d1)
ndx = matches.nonzero()[0]
fp = homography.make_homog(l0[ndx, :2].T)
ndx2 = [int(matches[i]) for i in ndx]
tp = homography.make_homog(l1[ndx2, :2].T)

model = homography.RansacModel()
H, inliers = homography.H_from_ransac(fp, tp, model)

# camera calibration
K = my_calibration((747, 1000))

# 3D points at plane z=0 with sides of length 0.2
box = cube_points([0, 0, 0.1], 0.1)

# project bottom square in first image
cam1 = c