【大模型问答】如何使用openMVG的函数式接口生成点云？-GPT3.5

#include "openMVG/sfm/sfm.hpp"
#include "openMVG/sfm/pipelines/sfm_robust_model_estimation.hpp"
#include "openMVG/sfm/pipelines/sfm_global_engine_relative_motions.hpp"
#include "openMVG/sfm/pipelines/sfm_global_engine.hpp"
#include "openMVG/image/image.hpp"
#include "openMVG/features/features.hpp"
#include "openMVG/matching/indMatch.hpp"
#include "openMVG/matching/indMatch_utils.hpp"
#include "openMVG/matching/regions_matcher.hpp"
#include "openMVG/matching_image_collection/Matcher.hpp"
#include "openMVG/matching_image_collection/F_ACRobust.hpp"
#include "openMVG/matching_image_collection/E_ACRobust.hpp"
#include "openMVG/system/timer.hpp"

openMVG::features::SIOPointFeature feat;
std::vector<openMVG::features::SIOPointFeature> feats;

openMVG::image::Image<unsigned char> imageGray;
std::vector<openMVG::image::Image<unsigned char> > vec_imageGray;

// Load images and features
// ...

// Convert features to openMVG format
for (size_t i = 0; i < feats.size(); ++i) {
  openMVG::features::PointFeature ptFeat;
  ptFeat.x() = feats[i].x();
  ptFeat.y() = feats[i].y();
  feat.desc().copyTo(ptFeat.descriptor());
  vec_feats[i].push_back(ptFeat);
}

openMVG::sfm::SfM_Data sfm_data;
sfm_data.s_root_path = "/path/to/images/";

// Pairwise matches
openMVG::matching::PairwiseMatches pairwise_matches;
// ...

// Compute relative poses
openMVG::sfm::robust::RelativePose_Info relativePose_info;
openMVG::sfm::robust::RobustRelativePose(
  vec_feats[0], vec_feats[1], // Feature points
  openMVG::matching::IndMatchSet(), // Matches
  relativePose_info); // Relative pose information

// Add the first two views to the reconstruction
openMVG::sfm::Views& views = sfm_data.views;
views.insert(std::make_pair(0, std::make_shared<openMVG::sfm::View>("", 0, openMVG::image::ImageSize(0, 0), 0)));
views.insert(std::make_pair(1, std::make_shared<openMVG::sfm::View>("", 1, openMVG::image::ImageSize(0, 0), 0)));
openMVG::sfm::intrinsics::Camera_Pinhole_Radial camera(0, 0, 0, 0, 0);
sfm_data.intrinsics.insert(std::make_pair(0, std::make_shared<openMVG::sfm::Pinhole_Intrinsic_Radial_K3>(0, 0, 0)));
sfm_data.intrinsics.insert(std::make_pair(1, std::make_shared<openMVG::sfm::Pinhole_Intrinsic_Radial_K3>(0, 0, 0)));
sfm_data.poses[0] = openMVG::geometry::Pose3(openMVG::geometry::Mat3::Identity(), openMVG::geometry::Vec3::Zero());
sfm_data.poses[1] = relativePose_info.relativePose;

// Triangulate points
openMVG::sfm::Triangulation trianulation_functor;
trianulation_functor(sfm_data, vec_feats, pairwise_matches);

// Export point cloud
openMVG::sfm::Save(sfm_data, "/path/to/output/pointcloud.ply", openMVG::sfm::ESfM_Data(openMVG::sfm::ALL));