Question

我尝试使用opencv中的triangulatePoints，但我认为我做错了（我在stackoverflow上读了一个关于triangulatePoints的问题但不是我理解的一切）。假设我有一个点坐标 - pt1和pt2对应于左右相机中一个点的坐标。 Pt1和pt2是cv :: Point。

所以我有：

cv::Mat cam0(3, 4, CV_64F, k_data1)   //k_data1 is [R|t] 3x4 matrix for left camera
cv::Mat cam1(3, 4, CV_64F, k_data2)   //k_data2 is [R|t] 3x4 matrix for right camera
cv::Point pt1;                        //for left camera
cv::Point pt2                         //for right camera

我也定义了

cv::Mat pnt3D(1, 1, CV_64FC4).

我的问题是如何正确定义这两点（cv :: Point）？
我试过这样做：

cv::Mat_<cv::Point> cam0pnts;
cam0pnts.at<cv::Point>(0) = pt1;
cv::Mat_<cv::Point> cam1pnts;
cam1pnts.at<cv::Point>(0) = pt2;

但是app会抛出一些异常，所以也许我做错了。

修改

好的，在@Optimus 1072的帮助下，我更正了一些代码行，我得到了这样的内容：

double pCam0[16], pCam1[16];

cv::Point pt1 = m_history.getPoint(0);
cv::Point pt2 = m_history.getPoint(1);
m_cam1.GetOpenglProjectionMatrix(pCam0, 640, 480);
m_cam2.GetOpenglProjectionMatrix(pCam1, 640, 480);
cv::Mat cam0(3, 4, CV_64F, pCam0); 
cv::Mat cam1(3, 4, CV_64F, pCam1); 

vector<cv::Point2f> pt1Vec;
vector<cv::Point2f> pt2Vec;
pt1Vec.push_back(pt1);
pt2Vec.push_back(pt2);

cv::Mat pnt3D(1,1, CV_64FC4);

cv::triangulatePoints(cam0, cam1, pt1Vec, pt2Vec, pnt3D);

但我仍然有例外：

... opencv \ opencv-2.4.0 \ opencv \ modules \ calib3d \ src \ triangulate.cpp：75：错误：（ - 209）proj点坐标数必须是== 2

Answer 1

我认为正确的方法是两个形成像这样的二维点的矢量

vector<Point2f> pt1;
vector<Point2f> pt2;

然后您可以在此向量中插入点

Point p;
p.x = x;
p.y = y;
pt1.push_back(p);

Answer 2

最后这个有效：

cv::Mat pointsMat1(2, 1, CV_64F);
cv::Mat pointsMat2(2, 1, CV_64F);

int size0 = m_history.getHistorySize();

for(int i = 0; i < size0; i++)
{
  cv::Point pt1 = m_history.getOriginalPoint(0, i);
  cv::Point pt2 = m_history.getOriginalPoint(1, i);

  pointsMat1.at<double>(0,0) = pt1.x;
  pointsMat1.at<double>(1,0) = pt1.y;
  pointsMat2.at<double>(0,0) = pt2.x;
  pointsMat2.at<double>(1,0) = pt2.y;

  cv::Mat pnts3D(4, 1, CV_64F);

  cv::triangulatePoints(m_projectionMat1, m_projectionMat2, pointsMat1, pointsMat2, pnts3D);
}

如何正确定义在triangulatePoints（opencv）中使用的参数？

修改

2 个答案: