虚拟现实和增强现实之场景理解算法：三维场景重建：虚拟现实与增强现实概论.docx

import cv2

ret, frame = cap.read()

#

res = cv2.matchTemplate(frame, model, cv2.TM_CCOEFF_NORMED)

#

if res.max() > 0.8:

cv2.putText(frame, 'Model Found!', (10, 50), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 0, 255), 2)

#

cap.release()

cv2.destroyAllWindows()

rgbd_image = o3d.geometry.RGBDImage.create_from_color_and_depth(color_raw, depth_raw)

intrinsics = o3d.camera.PinholeCameraIntrinsic(

pcd = o3d.geometry.PointCloud.create_from_rgbd_image(

rgbd_image, intrinsics)

o3d.visualization.draw_geometries([pcd])

import cv2

import numpy as np

img1 = cv2.imread('image1.jpg', cv2.IMREAD_GRAYSCALE)

img2 = cv2.imread('image2.jpg', cv2.IMREAD_GRAYSCALE)

sift = cv2.SIFT_create()

matches = bf.knnMatch(des1, des2, k=2)

for m,n in matches:

if m.distance < 0.75*n.distance:

good.append([m])

img_matches = cv2.drawMatchesKnn(img1, kp1, img2, kp2, good, None, flags=cv2.DrawMatches

Flags_NOT_DRAW_SINGLE_POINTS)

cv2.imshow('Matches', img_matches)

cv2.waitKey(0)

cv2.destroyAllWindows()