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opencv - OpenCV-立体系统的三角剖分原点

转载 作者:行者123 更新时间:2023-12-02 17:45:58 25 4
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我正在使用立体声系统,因此我尝试获取某些点的世界坐标。我可以对每个摄像机进行特定的校准,然后计算旋转矩阵和平移 vector 。最后我进行了三角剖分,但是我不确定世界坐标的起源。

如您在我的图上所见,值对应于深度值,但由于平坦,它们应接近400。所以我想原点是左镜头,这就是为什么它会变化的原因...

enter image description here

我的一段带有投影数组和三角函数的代码:

#C1 and C2 are the cameras matrix (left and rig)
#R_0 and T_0 are the transformation between cameras
#Coord1 and Coord2 are the correspondant coordinates of left and right respectively
P1 = np.dot(C1,np.hstack((np.identity(3),np.zeros((3,1)))))

P2 =np.dot(C2,np.hstack(((R_0),T_0)))

for i in range(Coord1.shape[0])
z = cv2.triangulatePoints(P1, P2, Coord1[i,],Coord2[i,])

我的相机呈现一个 Angular ,Z轴方向(深度方向)不垂直于我的表面。我想要从基线方向开始的深度。所以我必须旋转我的观点吗?

enter image description here

最佳答案

在以下代码中,points4DNorm将包含世界坐标中的3D点。我根本没有使用整流,只是使用了一些2d / 3d点对,然后在这些对上解决了PnPRansac。

// rotMat1, rotMat2,tvec1 and tvec2 are retrieved from solvePnPRansac and Rodrigues
Mat points4D;
rotMat1.copyTo(myCam1.ProjectionMat(Rect(0, 0, 3, 3)));
tvec1.copyTo(myCam1.ProjectionMat(Rect(3, 0, 1, 3)));

rotMat2.copyTo(myCam2.ProjectionMat(Rect(0, 0, 3, 3)));
tvec2.copyTo(myCam2.ProjectionMat(Rect(3, 0, 1, 3)));

myCam1.ProjectionMat = myCam1.NewCameraMat* myCam1.ProjectionMat;
myCam2.ProjectionMat = myCam2.NewCameraMat* myCam2.ProjectionMat;
triangulatePoints(myCam1.ProjectionMat, myCam2.ProjectionMat, balls12d, balls22d, points4D);
Mat points4DNorm;
for (int k = 0; k < points4D.cols;k++)
{
points4D.at<float>(0, k) = (points4D.at<float>(0, k) / points4D.at<float>(3, k))/304.8;
points4D.at<float>(1, k) = (points4D.at<float>(1, k) / points4D.at<float>(3, k)) / 304.8;
points4D.at<float>(2, k) = (points4D.at<float>(2, k) / points4D.at<float>(3, k)) / 304.8;
points4D.at<float>(3, k) = (points4D.at<float>(3, k) / points4D.at<float>(3, k)) / 304.8;
std::cout << std::setprecision(9) << points4D.at<float>(0, k) << "," << points4D.at<float>(1, k) << "," << points4D.at<float>(2, k) << std::endl;
}

关于opencv - OpenCV-立体系统的三角剖分原点,我们在Stack Overflow上找到一个类似的问题: https://stackoverflow.com/questions/36017923/

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