Question

我试图从我拥有的3x4姿势矩阵中提取3x3旋转矩阵。但是，即使我有一个非常简单的代码设置，另外两个值也不同。我正撞在墙上，因为我不知道为什么会发生这种情况。这是代码：

Camera pose matrix from optical flow homography
5.26354e-315 0 0     0 0 1        0.0078125 0 2        0 0 3        

0.0078125 1 0        0 1 1        0 1 2                5.26354e-315 1 3        

0 2 0        5.26354e-315 2 1        1.97626e-323 2 2        7.64868e-309 2 3        

Creating rotation matrix
5.26354e-315 0 0        0 0 1              0.0078125 0 2        

0.0078125 1 0           0 1 1              0 1 2        

0 2 0             5.26354e-315 2 1         1.97626e-323 2 2        

Rotation matrix
5.26354e-315 0 0  5.26354e-315 0 0         0 0 1  0 0 1         5.26354e-315 0 2  0.0078125 0 2         

0.0078125 1 0  0.0078125 1 0         0 1 1  0 1 1         0.0078125 1 2  0 1 2         

0 2 0  0 2 0         5.26354e-315 2 1  5.26354e-315 2 1         1.97626e-323 2 2  1.97626e-323 2 2

这是输出：

 override func viewDidLoad() {
        super.viewDidLoad()

    // Get an instance of the AVCaptureDevice class to initialize a device object and provide the video
    // as the media type parameter.
    let captureDevice = AVCaptureDevice.defaultDeviceWithMediaType(AVMediaTypeVideo)

    // Get an instance of the AVCaptureDeviceInput class using the previous device object.
    var error:NSError?

    let input: AnyObject! = AVCaptureDeviceInput.deviceInputWithDevice(captureDevice, error: &error)

    if (error != nil) {
        // If any error occurs, simply log the description of it and don't continue any more.
        print("\(error?.localizedDescription)")
        return
    }

    // Initialize the captureSession object.
    captureSession = AVCaptureSession()
    // Set the input device on the capture session.
    captureSession?.addInput(input as! AVCaptureInput)

    // Initialize a AVCaptureMetadataOutput object and set it as the output device to the capture session.
    let captureMetadataOutput = AVCaptureMetadataOutput()
    captureSession?.addOutput(captureMetadataOutput)

    // Set delegate and use the default dispatch queue to execute the call back
    captureMetadataOutput.setMetadataObjectsDelegate(self, queue: dispatch_get_main_queue())
    captureMetadataOutput.metadataObjectTypes = supportedBarCodes

    // Initialize the video preview layer and add it as a sublayer to the viewPreview view's layer.
    videoPreviewLayer = AVCaptureVideoPreviewLayer(session: captureSession)
    videoPreviewLayer?.videoGravity = AVLayerVideoGravityResizeAspectFill
    videoPreviewLayer?.frame = view.layer.bounds
    view.layer.addSublayer(videoPreviewLayer!)

    // Start video capture.
    captureSession?.startRunning()

    // Move the message label to the top view
    view.bringSubviewToFront(messageLabel)

    // Initialize QR Code Frame to highlight the QR code
    qrCodeFrameView = UIView()
    qrCodeFrameView?.layer.borderColor = UIColor.greenColor().CGColor
    qrCodeFrameView?.layer.borderWidth = 2
    view.addSubview(qrCodeFrameView!)
    view.bringSubviewToFront(qrCodeFrameView!)
}

在这里你可以看到我试图将前三列姿势保存到rotvec矩阵中。当我实际设置旋转矩阵等于这三列的姿势时，我得到正确的矩阵，因为第二个矩阵等于第一个矩阵的前三列。但是，当我再次检查旋转矩阵时，（第三个矩阵）它与我在坐标（0,2）和（1,2）上所需的输出不同。（我在姿势矩阵编号旁边输出了rotvec矩阵编号，你可以在这些坐标处看到数字不匹配）。我不确定为什么会这样，有人可以帮帮我吗？

Answer 1

解决了我以后遇到这个问题的人的问题：我刚刚将mat类型更改为CV_64F（使其成为双倍）以用于rotvec和pose，并使用全部显示。 berak的信条让我指向了正确的方向。

无法找出涉及设置旋转矩阵的逻辑错误

1 个答案: