Opencv - 三角测量起源与立体声系统

Question

我正在使用立体声系统，因此我试图获得某些点的世界坐标。我可以为每个摄像机进行特定校准，然后计算旋转矩阵和平移向量。最后我进行了三角测量，但我不确定世界坐标的起源。

正如您在我的图中所看到的，值对应于深度值，但它们平坦时应接近400。所以我认为原点是左相机，这就是它变化的原因......

我的代码与我的投影数组和三角函数：

#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,])

我的相机呈现一个角度，Z轴方向（深度方向）与我的表面不正常。我想要从基线方向的深度。所以我必须转动我的观点？

Answer 1

在以下代码中，points4DNorm将包含世界坐标中的3D点。我根本没有使用矫正，我只使用了几个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;
       }