Question

我正在研究MATLAB中的视觉测距代码。我使用以下示例（estimateEssentialMatrix）来获取基本矩阵。您可以打开此示例输入：

openExample('vision/EstimateEssentialMatrixFromAPairOfImagesExample')

到命令窗口。然后，我用了

[relativeOrientation,relativeLocation] = relativeCameraPose(E,cameraParams,inlierPoints1,inlierPoints2);
[rotationMatrix,translationVector] = cameraPoseToExtrinsics(relativeOrientation,relativeLocation);

恢复旋转矩阵和平移向量。然后，我连接并绘制了平移向量（表示摄像机的位置），

T_t = T_t + R_t * translationVector';
R_t = R_t * rotationMatrix';
location = vertcat(location,[T_t(1),T_t(3)]);
plot3(location(:,1),zeros(size(location(:,1),1),1), location(:,2))

最初，

R_t = eye(3);
T_t = [0;0;0];
location = [0,0];

但是，我没有得到正确的结果。我认为问题在于包含相机参数的cameraParams对象。

我使用了与数据集一起提供的函数（ReadCameraModel）来获取相机内在函数和非失真LUT。函数的i / o如下：

% ReadCameraModel - load camera intrisics and undistortion LUT from disk
%
% [fx, fy, cx, cy, G_camera_image, LUT] = ReadCameraModel(image_dir, models_dir)
%
% INPUTS:
%   image_dir: directory containing images for which camera model is required
%   models_dir: directory containing camera models
%
% OUTPUTS:
%   fx: horizontal focal length in pixels
%   fy: vertical focal length in pixels
%   cx: horizontal principal point in pixels
%   cy: vertical principal point in pixels
%   G_camera_image: transform that maps from image coordinates to the base
%                   frame of the camera. For monocular cameras, this is 
%                   simply a rotation. For stereo camera, this is a rotation                                      % and a translation to the left-most   
%                   lense.
%   LUT: undistortion lookup table. For an image of size w x h, LUT will be an
%        array of size [w x h, 2], with a (u,v) pair for each pixel. Maps pixels
%        in the undistorted image to pixels in the distorted image

我使用以下代码获取cameraParams对象：

[fx, fy, cx, cy, G_camera_image, LUT] = ReadCameraModel('./stereo/centre','./model');
K = [fx 0 cx;0 fy cy;0 0 1];       %Intrinsic Matrix of the camera
cameraParams = cameraParameters('IntrinsicMatrix',K);

这是获取cameraParams对象的正确方法吗？如果是的话，我做错了什么？

Answer 1

更改

match foo_ref.get_mut() {
    Foo::Bar(_) => false,
    Foo::Baz(_) => true
}

使用

 if (empty(msg.value))

内置MATLAB函数用于视觉测距的正确用途是什么？

1 个答案: