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80 lines
2.0 KiB
80 lines
2.0 KiB
#include <opencv2/sfm.hpp> |
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#include <opencv2/viz.hpp> |
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#include <iostream> |
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using namespace std; |
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using namespace cv; |
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using namespace cv::sfm; |
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static void help() { |
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cout |
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<< "\n---------------------------------------------------------------------------\n" |
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<< " This program shows how to import a reconstructed scene in the \n" |
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<< " OpenCV Structure From Motion (SFM) module.\n" |
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<< " Usage:\n" |
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<< " example_sfm_import_reconstruction <path_to_file>\n" |
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<< " where: file_path is the absolute path file into your system which contains\n" |
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<< " the reconstructed scene. \n" |
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<< "---------------------------------------------------------------------------\n\n" |
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<< endl; |
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} |
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int main(int argc, char* argv[]) |
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{ |
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/// Read input parameters |
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if ( argc != 2 ) { |
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help(); |
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exit(0); |
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} |
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/// Immport a reconstructed scene |
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vector<Mat> Rs, Ts, Ks, points3d; |
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importReconstruction(argv[1], Rs, Ts, Ks, points3d, SFM_IO_BUNDLER); |
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/// Create 3D windows |
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viz::Viz3d window("Coordinate Frame"); |
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window.setWindowSize(Size(500,500)); |
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window.setWindowPosition(Point(150,150)); |
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window.setBackgroundColor(); // black by default |
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/// Create the pointcloud |
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vector<Vec3d> point_cloud; |
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for (int i = 0; i < points3d.size(); ++i){ |
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point_cloud.push_back(Vec3f(points3d[i])); |
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} |
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/// Recovering cameras |
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vector<Affine3d> path; |
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for (size_t i = 0; i < Rs.size(); ++i) |
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path.push_back(Affine3d(Rs[i], Ts[i])); |
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/// Create and show widgets |
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viz::WCloud cloud_widget(point_cloud, viz::Color::green()); |
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viz::WTrajectory trajectory(path, viz::WTrajectory::FRAMES, 0.5); |
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viz::WTrajectoryFrustums frustums(path, Vec2f(0.889484, 0.523599), 0.5, |
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viz::Color::yellow()); |
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window.showWidget("point_cloud", cloud_widget); |
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window.showWidget("cameras", trajectory); |
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window.showWidget("frustums", frustums); |
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/// Wait for key 'q' to close the window |
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cout << endl << "Press 'q' to close each windows ... " << endl; |
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window.spin(); |
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return 0; |
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} |