vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

2026-08-22 00:11:13 +08:00
commit 12022378a3
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+#include <opencv2/sfm.hpp>
+#include <opencv2/viz.hpp>
+
+#include <iostream>
+
+using namespace std;
+using namespace cv;
+using namespace cv::sfm;
+
+static void help() {
+  cout
+      << "\n---------------------------------------------------------------------------\n"
+      << " This program shows how to import a reconstructed scene in the \n"
+      << " OpenCV Structure From Motion (SFM) module.\n"
+      << " Usage:\n"
+      << "        example_sfm_import_reconstruction <path_to_file>\n"
+      << " where: file_path is the absolute path file into your system which contains\n"
+      << "        the reconstructed scene. \n"
+      << "---------------------------------------------------------------------------\n\n"
+      << endl;
+}
+
+
+int main(int argc, char* argv[])
+{
+  /// Read input parameters
+
+  if ( argc != 2 ) {
+    help();
+    exit(0);
+  }
+
+  /// Immport a reconstructed scene
+
+  vector<Mat> Rs, Ts, Ks, points3d;
+  importReconstruction(argv[1], Rs, Ts, Ks, points3d, SFM_IO_BUNDLER);
+
+
+  /// Create 3D windows
+
+  viz::Viz3d window("Coordinate Frame");
+             window.setWindowSize(Size(500,500));
+             window.setWindowPosition(Point(150,150));
+             window.setBackgroundColor(); // black by default
+
+
+  /// Create the pointcloud
+
+  vector<Vec3d> point_cloud;
+  for (int i = 0; i < points3d.size(); ++i){
+    point_cloud.push_back(Vec3f(points3d[i]));
+  }
+
+
+  /// Recovering cameras
+
+  vector<Affine3d> path;
+  for (size_t i = 0; i < Rs.size(); ++i)
+    path.push_back(Affine3d(Rs[i], Ts[i]));
+
+
+  /// Create and show widgets
+
+  viz::WCloud cloud_widget(point_cloud, viz::Color::green());
+  viz::WTrajectory trajectory(path, viz::WTrajectory::FRAMES, 0.5);
+  viz::WTrajectoryFrustums frustums(path, Vec2f(0.889484, 0.523599), 0.5,
+                                    viz::Color::yellow());
+
+  window.showWidget("point_cloud", cloud_widget);
+  window.showWidget("cameras", trajectory);
+  window.showWidget("frustums", frustums);
+
+
+  /// Wait for key 'q' to close the window
+  cout << endl << "Press 'q' to close each windows ... " << endl;
+
+  window.spin();
+
+  return 0;
+}