126 lines
3.1 KiB
C++
126 lines
3.1 KiB
C++
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#include <opencv2/sfm.hpp>
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#include <opencv2/core.hpp>
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#include <opencv2/viz.hpp>
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#include <iostream>
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#include <fstream>
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#include <string>
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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 the two view reconstruction capabilities in the \n"
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<< " OpenCV Structure From Motion (SFM) module.\n"
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<< " It uses the following data from the VGG datasets at ...\n"
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<< " Usage:\n"
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<< " reconv2_pts.txt \n "
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<< " where the first line has the number of points and each subsequent \n"
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<< " line has entries for matched points as: \n"
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<< " x1 y1 x2 y2 \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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// Do projective reconstruction
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bool is_projective = true;
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// Read 2D points from text file
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Mat_<double> x1, x2;
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int npts;
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if (argc < 2) {
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help();
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exit(0);
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} else {
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ifstream myfile(argv[1]);
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if (!myfile.is_open()) {
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cout << "Unable to read file: " << argv[1] << endl;
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exit(0);
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} else {
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string line;
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// Read number of points
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getline(myfile, line);
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npts = (int) atof(line.c_str());
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x1 = Mat_<double>(2, npts);
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x2 = Mat_<double>(2, npts);
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// Read the point coordinates
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for (int i = 0; i < npts; ++i) {
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getline(myfile, line);
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stringstream s(line);
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string cord;
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s >> cord;
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x1(0, i) = atof(cord.c_str());
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s >> cord;
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x1(1, i) = atof(cord.c_str());
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s >> cord;
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x2(0, i) = atof(cord.c_str());
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s >> cord;
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x2(1, i) = atof(cord.c_str());
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}
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myfile.close();
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}
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}
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// Call the reconstruction function
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std::vector < Mat_<double> > points2d;
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points2d.push_back(x1);
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points2d.push_back(x2);
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Matx33d K_estimated;
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Mat_<double> points3d_estimated;
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std::vector < cv::Mat > Ps_estimated;
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reconstruct(points2d, Ps_estimated, points3d_estimated, K_estimated, is_projective);
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// Print output
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cout << endl;
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cout << "Projection Matrix of View 1: " << endl;
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cout << "============================ " << endl;
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cout << Ps_estimated[0] << endl << endl;
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cout << "Projection Matrix of View 2: " << endl;
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cout << "============================ " << endl;
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cout << Ps_estimated[1] << endl << endl;
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// Display 3D points using VIZ module
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// Create the pointcloud
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std::vector<cv::Vec3f> point_cloud;
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for (int i = 0; i < npts; ++i) {
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cv::Vec3f point3d((float) points3d_estimated(0, i),
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(float) points3d_estimated(1, i),
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(float) points3d_estimated(2, i));
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point_cloud.push_back(point3d);
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}
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// Create a 3D window
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viz::Viz3d myWindow("Coordinate Frame");
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/// Add coordinate axes
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myWindow.showWidget("Coordinate Widget", viz::WCoordinateSystem());
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viz::WCloud cloud_widget(point_cloud, viz::Color::green());
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myWindow.showWidget("cloud", cloud_widget);
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myWindow.spin();
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return 0;
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}
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