vendor: OpenCV 5.0.0 snapshot at 755e50675d97db9b7d449d8bd6b09888646f6c6e

modules/sfm/samples/recon2v.cpp

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