Building Computer Vision Projects with OpenCV 4 and C++

MVS for dense reconstruction

With the sparse 3D point cloud and the positions of the cameras, we can proceed with dense reconstruction using MVS. We already learned the basic concept of MVS in the first section; however, we do not need to implement this from scratch, but rather we can use the OpenMVS project. To use OpenMVS for cloud densifying, we must save our project in a specialized format. OpenMVS provides a class for saving and loading .mvs projects, the MVS::Interface class, defined in MVS/Interface.h.

Let's start with the camera:

MVS::Interface interface;MVS::Interface::Platform p;// Add cameraMVS::Interface::Platform::Camera c;c.K = Matx33d(K_); // The intrinsic matrix as refined by the bundle adjustmentc.R = Matx33d::eye(); // Camera ...