80 lines
2.0 KiB
C++
80 lines
2.0 KiB
C++
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#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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}
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