OpenCV 4 with Python Blueprints - Second Edition

Implementing the SceneReconstruction3D class

All of the relevant 3D scene reconstruction code for this chapter can be found as part of the SceneReconstruction3D class in the scene3D module. Upon instantiation, the class stores the intrinsic camera parameters to be used in all subsequent calculations:

import cv2 
import numpy as np 
import sys 
 
from mpl_toolkits.mplot3d import Axes3D 
import matplotlib.pyplot as plt 
from matplotlib import cm
 
class SceneReconstruction3D: 
    def __init__(self, K, dist): 
        self.K = K 
        self.K_inv = np.linalg.inv(K) 
        self.d = dist 

Then, we need to load a pair of images on which to operate.

In order to do it, first, we create a static method that will load an image and convert it to an RGB format if it is grayscale, as other ...