基于OpenCV做“三维重建”（4）--相机姿态还原和实现三维重建

v当我们构建成功了viz，就可以使用3维效果给我们提供的便利，进一步进行一些3维的操作。

在这个动画中，注意图片后面的那个黑线，对应的是相机的位置。

/*------------------------------------------------------------------------------------------*\

This file contains material supporting chapter 11 of the book:

OpenCV3 Computer Vision Application Programming Cookbook

Third Edition

by Robert Laganiere, Packt Publishing, 2016.

This program is free software; permission is hereby granted to use, copy, modify,

and distribute this source code, or portions thereof, for any purpose, without fee,

subject to the restriction that the copyright notice may not be removed

or altered from any source or altered source distribution.

The software is released on an as-is basis and without any warranties of any kind.

In particular, the software is not guaranteed to be fault-tolerant or free from failure.

The author disclaims all warranties with regard to this software, any use,

and any consequent failure, is purely the responsibility of the user.

Copyright (C) 2016 Robert Laganiere, www.laganiere.name

\*------------------------------------------------------------------------------------------*/

#include "stdafx.h"

#include <opencv2/core.hpp>

#include <opencv2/highgui.hpp>

#include <opencv2/imgproc.hpp>

#include <opencv2/viz.hpp>

#include <opencv2/calib3d.hpp>

#include <iostream>

int main()

{

    // Read the camera calibration parameters

    cv::Mat cameraMatrix;

    cv::Mat cameraDistCoeffs;

    cv::FileStorage fs("calib.xml", cv::FileStorage::READ);

    fs["Intrinsic"] >> cameraMatrix;

    fs["Distortion"] >> cameraDistCoeffs;

    std::cout << " Camera intrinsic: " << cameraMatrix.rows << "x" << cameraMatrix.cols << std::endl;

    std::cout << cameraMatrix.at<double>(0, 0) << " " << cameraMatrix.at<double>(0, 1) << " " << cameraMatrix.at<double>(0, 2) << std::endl;

    std::cout << cameraMatrix.at<double>(1, 0) << " " << cameraMatrix.at<double>(1, 1) << " " << cameraMatrix.at<double>(1, 2) << std::endl;

    std::cout << cameraMatrix.at<double>(2, 0) << " " << cameraMatrix.at<double>(2, 1) << " " << cameraMatrix.at<double>(2, 2) << std::endl << std::endl;

    cv::Matx33d cMatrix(cameraMatrix);

    // Input image points

    std::vector<cv::Point2f> imagePoints;

    imagePoints.push_back(cv::Point2f(136, 113));

    imagePoints.push_back(cv::Point2f(379, 114));

    imagePoints.push_back(cv::Point2f(379, 150));

    imagePoints.push_back(cv::Point2f(138, 135));

    imagePoints.push_back(cv::Point2f(143, 146));

    imagePoints.push_back(cv::Point2f(381, 166));

    imagePoints.push_back(cv::Point2f(345, 194));

    imagePoints.push_back(cv::Point2f(103, 161));

    // Input object points

    std::vector<cv::Point3f> objectPoints;

    objectPoints.push_back(cv::Point3f(0, 45, 0));

    objectPoints.push_back(cv::Point3f(242.5, 45, 0));

    objectPoints.push_back(cv::Point3f(242.5, 21, 0));

    objectPoints.push_back(cv::Point3f(0, 21, 0));

    objectPoints.push_back(cv::Point3f(0, 9, -9));

    objectPoints.push_back(cv::Point3f(242.5, 9, -9));

    objectPoints.push_back(cv::Point3f(242.5, 9, 44.5));

    objectPoints.push_back(cv::Point3f(0, 9, 44.5));

    // Read image

    cv::Mat image = cv::imread("e:/template/bench2.jpg");

    // Draw image points

    for (int i = 0; i < 8; i++) {

        cv::circle(image, imagePoints[i], 3, cv::Scalar(0, 0, 0),2);

    }

    cv::imshow("An image of a bench", image);

    // Create a viz window

    cv::viz::Viz3d visualizer("Viz window");

    visualizer.setBackgroundColor(cv::viz::Color::white());

    /// Construct the scene

    // Create a virtual camera

    cv::viz::WCameraPosition cam(cMatrix,  // matrix of intrinsics

        image,    // image displayed on the plane

        30.0,     // scale factor

        cv::viz::Color::black());

    // Create a virtual bench from cuboids

    cv::viz::WCube plane1(cv::Point3f(0.0, 45.0, 0.0), 

        cv::Point3f(242.5, 21.0, -9.0), 

        true,  // show wire frame 

        cv::viz::Color::blue());

    plane1.setRenderingProperty(cv::viz::LINE_WIDTH, 4.0);

    cv::viz::WCube plane2(cv::Point3f(0.0, 9.0, -9.0), 

        cv::Point3f(242.5, 0.0, 44.5), 

        true,  // show wire frame 

        cv::viz::Color::blue());

    plane2.setRenderingProperty(cv::viz::LINE_WIDTH, 4.0);

    // Add the virtual objects to the environment

    visualizer.showWidget("top", plane1);

    visualizer.showWidget("bottom", plane2);

    visualizer.showWidget("Camera", cam);

    // Get the camera pose from 3D/2D points

    cv::Mat rvec, tvec;

    cv::solvePnP(objectPoints, imagePoints,      // corresponding 3D/2D pts 

        cameraMatrix, cameraDistCoeffs, // calibration 

        rvec, tvec);                    // output pose

    std::cout << " rvec: " << rvec.rows << "x" << rvec.cols << std::endl;

    std::cout << " tvec: " << tvec.rows << "x" << tvec.cols << std::endl;

    cv::Mat rotation;

    // convert vector-3 rotation

    // to a 3x3 rotation matrix

    cv::Rodrigues(rvec, rotation);

    // Move the bench    

    cv::Affine3d pose(rotation, tvec);

    visualizer.setWidgetPose("top", pose);

    visualizer.setWidgetPose("bottom", pose);

    // visualization loop

    while(cv::waitKey(100)==-1 && !visualizer.wasStopped())

    {

        visualizer.spinOnce(1,     // pause 1ms 

            true); // redraw

    }

    return 0;

}

三维重建这块，我也运行成功书本的例子：

来自为知笔记(Wiz)

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