sceneReconstruct.cpp

#define CERES_FOUND true
#include <opencv2/sfm.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/core.hpp>
#include <opencv2/sfm/reconstruct.hpp>
#include <opencv2/sfm/simple_pipeline.hpp>
#include <opencv2/viz.hpp>
#include <opencv2/viz/vizcore.hpp>
#include <opencv2/viz/viz3d.hpp>
#include <iostream>
#include <fstream>

using namespace std;
using namespace cv;
using namespace cv::sfm;
using namespace cv::viz;

static void help(){
    cout
      << "\n------------------------------------------------------------------------------------\n"
      << " This program shows the multiview reconstruction capabilities in the \n"
      << " OpenCV Structure From Motion (SFM) module.\n"
      << " It reconstruct a scene from a set of 2D images \n"
      << " Usage:\n"
      << "        example_sfm_scene_reconstruction <path_to_file> <f> <cx> <cy>\n"
      << " where: path_to_file is the file absolute path into your system which contains\n"
      << "        the list of images to use for reconstruction. \n"
      << "        f  is the focal length in pixels. \n"
      << "        cx is the image principal point x coordinates in pixels. \n"
      << "        cy is the image principal point y coordinates in pixels. \n"
      << "------------------------------------------------------------------------------------\n\n"
      << endl;
}

static int getdir(const string _filename, vector<String> &files) {
    ifstream myfile(_filename.c_str());
    if (!myfile.is_open()) {
        cout << "Unable to read file: " << _filename << endl;
        exit(0);
    } 
    else {
        size_t found = _filename.find_last_of("/\\");
        string line_str, path_to_file = _filename.substr(0, found);
        while ( getline(myfile, line_str) )
            files.push_back(path_to_file+string("/")+line_str);
    }
    return 1;
}

int main(int argc, char* argv[]) {
    // Read input parameters
    if ( argc != 5 ) {
        help();
        exit(0);
    }

    // Parse the image paths
    vector<String> images_paths;
    getdir( argv[1], images_paths );
    // Build intrinsics
    float f  = atof(argv[2]), cx = atof(argv[3]), cy = atof(argv[4]);
    Matx33d K = Matx33d( f, 0, cx,
                       0, f, cy,
                       0, 0,  1);
    bool is_projective = true;
    vector<Mat> Rs_est, ts_est, points3d_estimated;
    cv::sfm::reconstruct(images_paths, Rs_est, ts_est, K, points3d_estimated, is_projective);
    // Print output
    cout << "\n----------------------------\n" << endl;
    cout << "Reconstruction: " << endl;
    cout << "============================" << endl;
    cout << "Estimated 3D points: " << points3d_estimated.size() << endl;
    cout << "Estimated cameras: " << Rs_est.size() << endl;
    cout << "Refined intrinsics: " << endl << K << endl << endl;
    cout << "3D Visualization: " << endl;
    cout << "============================" << endl;
    viz::Viz3d window("Coordinate Frame");
    window.setWindowSize(Size(500,500));
    window.setWindowPosition(Point(150,150));
    window.setBackgroundColor(); // black by default
    // Create the pointcloud
    cout << "Recovering points  ... ";
    // recover estimated points3d
    vector<Vec3f> point_cloud_est;
    for (int i = 0; i < points3d_estimated.size(); ++i)
        point_cloud_est.push_back(Vec3f(points3d_estimated[i]));
    cout << "[DONE]" << endl;
    cout << "Recovering cameras ... ";
    vector<Affine3d> path;
    for (size_t i = 0; i < Rs_est.size(); ++i)
        path.push_back(Affine3d(Rs_est[i],ts_est[i]));
    cout << "[DONE]" << endl;
    if ( point_cloud_est.size() > 0 ) {
        cout << "Rendering points   ... ";
        viz::WCloud cloud_widget(point_cloud_est, viz::Color::green());
        window.showWidget("point_cloud", cloud_widget);
        cout << "[DONE]" << endl;
    }
    else {
        cout << "Cannot render points: Empty pointcloud" << endl;
    }
    
    if ( path.size() > 0 ) {
        cout << "Rendering Cameras  ... ";
        window.showWidget("cameras_frames_and_lines", viz::WTrajectory(path, viz::WTrajectory::BOTH, 0.1, viz::Color::green()));
        window.showWidget("cameras_frustums", viz::WTrajectoryFrustums(path, K, 0.1, viz::Color::yellow()));
        window.setViewerPose(path[0]);
        cout << "[DONE]" << endl;
    }
    else {
        cout << "Cannot render the cameras: Empty path" << endl;
    }
    cout << endl << "Press 'q' to close each windows ... " << endl;
    window.spin();
    return 0;
}