从大佬那里保存的,这个需要输入立体校正后的图片和相机焦距。如何输入及数据来源在我上传的另一份文件里。
代码片段和文件信息
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
..A..H. 48128 2016-08-08 00:10 Reconstuction3d.vsReconstuction3dv14.suo
文件 3686454 2018-10-26 14:56 Reconstuction3d1.bmp
文件 3686454 2018-10-26 14:56 Reconstuction3d2.bmp
文件 294912 2019-03-18 20:44 Reconstuction3dDebugReconstuction3d.exe
文件 1943624 2019-03-18 20:44 Reconstuction3dDebugReconstuction3d.ilk
文件 4828160 2019-03-18 20:44 Reconstuction3dDebugReconstuction3d.pdb
文件 0 2019-03-25 09:57 Reconstuction3ddxva2.pdbEFD40ACCC3FD48B69262D97BBD1DD2972dxva2.pdb
文件 128635 2016-07-21 22:03 Reconstuction3dGLUT工具包.rar
文件 3686454 2018-10-26 14:56 Reconstuction3dReconstuction3d1.bmp
文件 12841 2018-09-11 16:56 Reconstuction3dReconstuction3d1.jpg
文件 38482 2019-03-28 09:20 Reconstuction3dReconstuction3d11.jpg
文件 3686454 2018-10-26 14:56 Reconstuction3dReconstuction3d2.bmp
文件 39832 2019-03-28 09:20 Reconstuction3dReconstuction3d22.jpg
文件 81825 2011-05-25 12:22 Reconstuction3dReconstuction3d3.jpg
文件 82997 2011-05-25 12:24 Reconstuction3dReconstuction3d4.jpg
文件 8459 2019-03-19 16:02 Reconstuction3dReconstuction3dcvFuncs.cpp
文件 7044 2019-03-19 16:15 Reconstuction3dReconstuction3dcvFuncs2.cpp
文件 1516 2011-06-01 21:09 Reconstuction3dReconstuction3dcvFuncs3.cpp
文件 895212 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugcvFuncs.obj
文件 574383 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugcvFuncs2.obj
文件 517823 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugglFuncs.obj
文件 1754 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugReconstuction3d.Build.CppClean.log
文件 3308 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.log
文件 784196 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.obj
文件 3574 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogcl.command.1.tlog
文件 123772 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogCL.read.1.tlog
文件 4190 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogCL.write.1.tlog
文件 5490 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tloglink.command.1.tlog
文件 9660 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tloglink.read.1.tlog
文件 1388 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tloglink.write.1.tlog
............此处省略63个文件信息
#include “header.h“
#define DETECTOR_TYPE “FAST“ // FASTSIFTSURFSTARMSERGFTTHARRIS...参考创建函数
#define DEscriptOR_TYPE “SIFT“ //
#define MATCHER_TYPE “Flannbased“ //
#define MAXM_FILTER_TH 20//GetPair中使用的阈值
#define HOMO_FILTER_TH 100 // GetPair中使用的阈值
#define NEAR_FILTER_TH 10// 不同点之间的距离应大于NEAR_FILTER_TH
//选择立体图像中的对应点进行三维重建
void GetPair( Mat &imgL Mat &imgR vector &ptsL vector &ptsR )
{
Mat descriptorsL descriptorsR;
double tt = (double)getTickCount();
Ptr detector = FeatureDetector::create( DETECTOR_TYPE );
vector keypointsL keypointsR;
detector->detect( imgL keypointsL );
detector->detect( imgR keypointsR );
PtrriptorExtractor> de = DescriptorExtractor::create(DEscriptOR_TYPE);
//SurfDescriptorExtractor de(42true);
de->compute( imgL keypointsL descriptorsL );
de->compute( imgR keypointsR descriptorsR );
tt = ((double)getTickCount() - tt)/getTickFrequency(); // 620*555 pic about 2s for SURF 120s for SIFT
PtrriptorMatcher> matcher = DescriptorMatcher::create( MATCHER_TYPE );
vector> matches;
matcher->knnMatch( descriptorsL descriptorsR matches 2 ); // L:query R:train
vector passedMatches; // save for drawing
DMatch m1 m2;
vector ptsRtemp ptsLtemp;
for( size_t i = 0; i < matches.size(); i++ )
{
m1 = matches[i][0];
m2 = matches[i][1];
if (m1.distance < MAXM_FILTER_TH * m2.distance)
{
ptsRtemp.push_back(keypointsR[m1.trainIdx].pt);
ptsLtemp.push_back(keypointsL[i].pt);
passedMatches.push_back(m1);
}
}
Mat HLR;
HLR = findHomography( Mat(ptsLtemp) Mat(ptsRtemp) CV_RANSAC 3 );
cout<<“Homography:“< Mat ptsLt;
perspectiveTransform(Mat(ptsLtemp) ptsLt HLR);
vector matchesMask( passedMatches.size() 0 );
int cnt = 0;
for( size_t i1 = 0; i1 < ptsLtemp.size(); i1++ )
{
Point2f prjPtR = ptsLt.at((int)i10); // prjx = ptsLt.at((int)i10) prjy = ptsLt.at((int)i11);
// inlier
if( abs(ptsRtemp[i1].x - prjPtR.x) < HOMO_FILTER_TH &&
abs(ptsRtemp[i1].y - prjPtR.y) < 2) // restriction on y is more strict
{
vector::iterator iter = ptsL.begin();
for (;iter!=ptsL.end();iter++)
{
Point2f diff = *iter - ptsLtemp[i1];
float dist = abs(diff.x)+abs(diff.y);
if (dist < NEAR_FILTER_TH) break;
}
if (iter != ptsL.end()) continue;
ptsL.push_back(ptsLtemp[i1]);
ptsR.push_back(ptsRtemp[i1]);
cnt++;
if (cnt%1 == 0) matchesMask[i1] = 1; // don‘t want to draw to many matches
}
}
Mat outImg;
drawMatches(imgL keypointsL imgR keypointsR passedMatches outImg
Scalar::all(-1) Scalar::all(-1) matchesMask DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
char title[50];
sprintf_s(title 50 “%.3f s %d matches %d passed“ tt matches.size() cnt);
imshow(title outImg);
}
// 用于用opencv函数进行三角剖分
bool isGood
属性 大小 日期 时间 名称
----------- --------- ---------- ----- ----
..A..H. 48128 2016-08-08 00:10 Reconstuction3d.vsReconstuction3dv14.suo
文件 3686454 2018-10-26 14:56 Reconstuction3d1.bmp
文件 3686454 2018-10-26 14:56 Reconstuction3d2.bmp
文件 294912 2019-03-18 20:44 Reconstuction3dDebugReconstuction3d.exe
文件 1943624 2019-03-18 20:44 Reconstuction3dDebugReconstuction3d.ilk
文件 4828160 2019-03-18 20:44 Reconstuction3dDebugReconstuction3d.pdb
文件 0 2019-03-25 09:57 Reconstuction3ddxva2.pdbEFD40ACCC3FD48B69262D97BBD1DD2972dxva2.pdb
文件 128635 2016-07-21 22:03 Reconstuction3dGLUT工具包.rar
文件 3686454 2018-10-26 14:56 Reconstuction3dReconstuction3d1.bmp
文件 12841 2018-09-11 16:56 Reconstuction3dReconstuction3d1.jpg
文件 38482 2019-03-28 09:20 Reconstuction3dReconstuction3d11.jpg
文件 3686454 2018-10-26 14:56 Reconstuction3dReconstuction3d2.bmp
文件 39832 2019-03-28 09:20 Reconstuction3dReconstuction3d22.jpg
文件 81825 2011-05-25 12:22 Reconstuction3dReconstuction3d3.jpg
文件 82997 2011-05-25 12:24 Reconstuction3dReconstuction3d4.jpg
文件 8459 2019-03-19 16:02 Reconstuction3dReconstuction3dcvFuncs.cpp
文件 7044 2019-03-19 16:15 Reconstuction3dReconstuction3dcvFuncs2.cpp
文件 1516 2011-06-01 21:09 Reconstuction3dReconstuction3dcvFuncs3.cpp
文件 895212 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugcvFuncs.obj
文件 574383 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugcvFuncs2.obj
文件 517823 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugglFuncs.obj
文件 1754 2019-03-18 20:24 Reconstuction3dReconstuction3dDebugReconstuction3d.Build.CppClean.log
文件 3308 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.log
文件 784196 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.obj
文件 3574 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogcl.command.1.tlog
文件 123772 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogCL.read.1.tlog
文件 4190 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogCL.write.1.tlog
文件 5490 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogli
文件 9660 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogli
文件 1388 2019-03-18 20:44 Reconstuction3dReconstuction3dDebugReconstuction3d.tlogli
............此处省略63个文件信息
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