一、环境
pycharm+OpenGL+opengame
二、静态及动态增强现实实现
（一）静态（立方体和茶壶）
1.立方体的实现
将静态立方体放到键盘上
效果图：
（a）
（b）
(c)
图 一
代码：
1 from pylab import * 2 from PIL import Image 3 # If you have PCV installed, these imports should work 4 from PCV.geometry import homography, camera 5 from PCV.localdescriptors import sift 6 7 """ 8 This is the augmented reality and pose estimation cube example from Section 4.3. 9 """ 10 11 def draw_teapot(size): 12 glEnable(GL_LIGHTING) 13 glEnable(GL_LIGHT0) 14 def cube_points(c, wid): 15 """ Creates a list of points for plotting 16 a cube with plot. (the first 5 points are 17 the bottom square, some sides repeated). """ 18 p = [] 19 # bottom 20 p.append([c[0]-wid, c[1]-wid, c[2]-wid]) 21 p.append([c[0]-wid, c[1]+wid, c[2]-wid]) 22 p.append([c[0]+wid, c[1]+wid, c[2]-wid]) 23 p.append([c[0]+wid, c[1]-wid, c[2]-wid]) 24 p.append([c[0]-wid, c[1]-wid, c[2]-wid]) #same as first to close plot 25 26 # top 27 p.append([c[0]-wid, c[1]-wid, c[2]+wid]) 28 p.append([c[0]-wid, c[1]+wid, c[2]+wid]) 29 p.append([c[0]+wid, c[1]+wid, c[2]+wid]) 30 p.append([c[0]+wid, c[1]-wid, c[2]+wid]) 31 p.append([c[0]-wid, c[1]-wid, c[2]+wid]) #same as first to close plot 32 33 # vertical sides 34 p.append([c[0]-wid, c[1]-wid, c[2]+wid]) 35 p.append([c[0]-wid, c[1]+wid, c[2]+wid]) 36 p.append([c[0]-wid, c[1]+wid, c[2]-wid]) 37 p.append([c[0]+wid, c[1]+wid, c[2]-wid]) 38 p.append([c[0]+wid, c[1]+wid, c[2]+wid]) 39 p.append([c[0]+wid, c[1]-wid, c[2]+wid]) 40 p.append([c[0]+wid, c[1]-wid, c[2]-wid]) 41 42 return array(p).T 43 44 45 def my_calibration(sz): 46 """ 47 Calibration function for the camera (iPhone4) used in this example. 48 """ 49 row, col = sz 50 fx = 2555*col/2592 51 fy = 2586*row/1936 52 K = diag([fx, fy, 1]) 53 K[0, 2] = 0.5*col 54 K[1, 2] = 0.5*row 55 return K 56 57 58 59 # compute features 60 sift.process_image('1.png', 'im0.sift') 61 l0, d0 = sift.read_features_from_file('im0.sift') 62 63 sift.process_image('1.png', 'im1.sift') 64 l1, d1 = sift.read_features_from_file('im1.sift') 65 66 67 # match features and estimate homography 68 matches = sift.match_twosided(d0, d1) 69 ndx = matches.nonzero()[0] 70 fp = homography.make_homog(l0[ndx, :2].T) 71 ndx2 = [int(matches[i]) for i in ndx] 72 tp = homography.make_homog(l1[ndx2, :2].T) 73 74 model = homography.RansacModel() 75 H, inliers = homography.H_from_ransac(fp, tp, model) 76 77 # camera calibration 78 K = my_calibration((747, 1000)) 79 80 # 3D points at plane z=0 with sides of length 0.2 81 box = cube_points([0, 0, 0.1], 0.1) 82 83 # project bottom square in first image 84 cam1 = camera.Camera(hstack((K, dot(K, array([[0], [0], [-1]]))))) 85 # first points are the bottom square 86 box_cam1 = cam1.project(homography.make_homog(box[:, :5])) 87 88 89 # use H to transfer points to the second image 90 box_trans = homography.normalize(dot(H,box_cam1)) 91 92 # compute second camera matrix from cam1 and H 93 cam2 = camera.Camera(dot(H, cam1.P)) 94 A = dot(linalg.inv(K), cam2.P[:, :3]) 95 A = array([A[:, 0], A[:, 1], cross(A[:, 0], A[:, 1])]).T 96 cam2.P[:, :3] = dot(K, A) 97 98 # project with the second camera 99 box_cam2 = cam2.project(homography.make_homog(box)) 100 101 102 103 # plotting 104 im0 = array(Image.open('1.png')) 105 im1 = array(Image.open('2.png')) 106 107 figure() 108 imshow(im0) 109 plot(box_cam1[0, :], box_cam1[1, :], linewidth=3) 110 title('2D projection of bottom square') 111 axis('off') 112 113 figure() 114 imshow(im1) 115 plot(box_trans[0, :], box_trans[1, :], linewidth=3) 116 title('2D projection transfered with H') 117 axis('off') 118 119 figure() 120 imshow(im1) 121 plot(box_cam2[0, :], box_cam2[1, :], linewidth=3) 122 title('3D points projected in second image') 123 axis('off') 124 125 show()