Question

我能够在纹理和目标对象上获得WebcamTexture的Homography。

现在，我想基于Homography改变Unity相机的变换。我已经找到了一种从Homography中获取相机位置的方法：

void cameraPoseFromHomography(const Mat& H, Mat& pose)

{
    pose = Mat::eye(3, 4, CV_32FC1);      // 3x4 matrix, the camera pose
    float norm1 = (float)norm(H.col(0));  
    float norm2 = (float)norm(H.col(1));  
    float tnorm = (norm1 + norm2) / 2.0f; // Normalization value

    Mat p1 = H.col(0);       // Pointer to first column of H
    Mat p2 = pose.col(0);    // Pointer to first column of pose (empty)

    cv::normalize(p1, p2);   // Normalize the rotation, and copies the column to pose

    p1 = H.col(1);           // Pointer to second column of H
    p2 = pose.col(1);        // Pointer to second column of pose (empty)

    cv::normalize(p1, p2);   // Normalize the rotation and copies the column to pose

    p1 = pose.col(0);
    p2 = pose.col(1);

    Mat p3 = p1.cross(p2);   // Computes the cross-product of p1 and p2
    Mat c2 = pose.col(2);    // Pointer to third column of pose
    p3.copyTo(c2);       // Third column is the crossproduct of columns one and two

    pose.col(3) = H.col(2) / tnorm;  //vector t [R|t] is the last column of pose
}

来源：https://stackoverflow.com/a/10781165/4382683

现在，这与OpenCV图像相关，OpenCV图像的维数为数百个。但在Unity中，Quad有LocalScale (1,1,1) - 我不知道如何用这个来翻译姿势。

此外，Mat 3x4如何在Unity中使用某个位置 - 其中位置只是Vector3，如(1,5,4)，旋转也是{{1}像Vector3一样。

任何提示或方向都足够好。感谢。

如何在Unity中使用OpenCV的Homography作为目标和位置摄像头？

0 个答案: