openMVG camera
时间: 2023-12-07 14:05:52 浏览: 39
OpenMVG是一个用于多视图几何的库,其中包括相机标定和三维重建等功能。在OpenMVG中,相机模型是通过IntrinsicBase类来实现的,而Pinhole_Intrinsic是IntrinsicBase的一个子类,用于实现经典的相机模型M1,包括焦距、主点和图像大小等参数。在使用OpenMVG进行相机标定时,可以使用Pinhole_Intrinsic类来定义相机模型,然后通过标定算法来估计相机参数。在三维重建中,可以使用估计出的相机参数来进行三维点云的重建。
以下是OpenMVG相机标定的示例代码:
```cpp
#include "openMVG/cameras/Pinhole_Intrinsic.hpp"
#include "openMVG/image/image.hpp"
#include "openMVG/sfm/sfm.hpp"
#include "openMVG/sfm/pipelines/sfm_robust_model_estimation.hpp"
#include "openMVG/sfm/pipelines/sfm_regions_provider.hpp"
#include "openMVG/sfm/pipelines/sfm_features_provider.hpp"
#include "openMVG/sfm/pipelines/sfm_matches_provider.hpp"
#include "openMVG/sfm/pipelines/sfm_reconstruction.hpp"
using namespace openMVG;
using namespace openMVG::cameras;
using namespace openMVG::image;
using namespace openMVG::sfm;
int main()
{
// 读取图像和特征点
const std::string sImagePath = "path/to/images";
const std::string sFeatPath = "path/to/features";
const std::string sMatchesPath = "path/to/matches";
const std::string sOutDir = "path/to/output";
// 读取图像和特征点
std::shared_ptr<Regions_Provider> regions_provider = std::make_shared<Regions_Provider>();
std::shared_ptr<Features_Provider> features_provider = std::make_shared<Features_Provider>();
std::shared_ptr<Matches_Provider> matches_provider = std::make_shared<Matches_Provider>();
if (!regions_provider->load(sImagePath, sFeatPath, sMatchesPath))
{
std::cerr << "Error while loading regions, features or matches files" << std::endl;
return EXIT_FAILURE;
}
// 定义相机模型
Pinhole_Intrinsic intrinsic(1000, 1000, 500, 500, 0); // 定义焦距、主点和图像大小等参数
// 进行相机标定
SfM_Data sfm_data;
if (!robust_model_estimation(sfm_data, intrinsic, *regions_provider, *features_provider, *matches_provider))
{
std::cerr << "Error while estimating the camera model" << std::endl;
return EXIT_FAILURE;
}
// 保存相机参数
const std::string sOutFile = stlplus::create_filespec(sOutDir, "cameras.txt");
if (!Save(sfm_data.GetIntrinsics(), sOutFile, sfm::ESfM_Data(ALL)))
{
std::cerr << "Error while saving the camera parameters" << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
```