Question

我试图：

对世界坐标中的几个点进行射线平面交叉
然后我得到那些相交的点
然后我尝试将这些点从世界坐标投影到图像坐标

但我得到的分数在0.4,0.1,0.5 ......范围内。

以下是我正在做的事情，希望您发现错误

      Mat cameraIntrinsics( 3, 3, CV_32F );

      cameraIntrinsics.at<float>( 0, 0 ) = 1.6003814935684204;
      cameraIntrinsics.at<float>( 0, 1 ) = 0;
      cameraIntrinsics.at<float>( 0, 2 ) = -0.0021958351135253906;
      cameraIntrinsics.at<float>( 1, 0 ) = 0;
      cameraIntrinsics.at<float>( 1, 1 ) = 1.6003814935684204;
      cameraIntrinsics.at<float>( 1, 2 ) = -0.0044271680526435375;
      cameraIntrinsics.at<float>( 2, 0 ) = 0;
      cameraIntrinsics.at<float>( 2, 1 ) = 0;
      cameraIntrinsics.at<float>( 2, 2 ) = 1;


      Mat invCameraIntrinsics = cameraIntrinsics.inv();

      std::vector<cv::Point3f> points3D;
      std::vector<Ray> rays;
      for ( int i = 0; i < corners.size(); i++ )
      {
        cv::Point3f pt;

        pt.z = -1.0f;

        pt.x = corners[i].x;
        pt.y = corners[i].y;

        points3D.push_back( pt );

        Ray ray;

        ray.origin = Vec3f( 0, 0, 0);
        ray.direction = Vec3f( pt.x, pt.y, pt.z );

        rays.push_back( ray );
      }

      std::vector<cv::Point3f> pointsTransformed3D;


      cv::transform( points3D, pointsTransformed3D, invCameraIntrinsics );


      std::vector<cv::Vec3f> contacts;

      for ( int i = 0; i < pointsTransformed3D.size(); i++ )
      {
        Vec3f pt( pointsTransformed3D[i].x, pointsTransformed3D[i].y, pointsTransformed3D[i].z );

        cv::Vec3f contact;
        std::pair<bool, double> test = linePlaneIntersection( contact, rays[i].direction, rays[i].origin, Vec3f( 0, 1, 0 ), pt );
        if (test.first == true )
        {
          cv::Vec3f contact( rays[i].origin + ( rays[i].direction) * test.second);
          contacts.push_back( contact );
        }
      }


      Mat rotationMatrix( 3, 3, CV_32F );

      rotationMatrix.at<float>( 0, 0 ) = 0.9115078799790896;
      rotationMatrix.at<float>( 0, 1 ) = -0.1883612409043686;
      rotationMatrix.at<float>( 0, 2 ) = -0.3656137684237178;
      rotationMatrix.at<float>( 1, 0 ) = -0.3046835686704949;
      rotationMatrix.at<float>( 1, 1 ) = 0.2878667580409447;
      rotationMatrix.at<float>( 1, 2 ) = -0.9079100465339108;
      rotationMatrix.at<float>( 2, 0 ) = 0.2762631132059388;
      rotationMatrix.at<float>( 2, 1 ) = 0.9389636694462479;
      rotationMatrix.at<float>( 2, 2 ) = 0.2050022432604093;

      cv::Mat rVec( 3, 1, CV_32F ); // Rotation vector
      Rodrigues( rotationMatrix, rVec );
      double norm = cv::norm( rVec );

      float theta = (float)(sqrt( rVec.at<float>(0)*rVec.at<float>( 0 ) + rVec.at<float>( 1 )*rVec.at<float>( 1 ) + rVec.at<float>( 2 )*rVec.at<float>( 2 ) ) * 180 / 3.14567898726);

      cv::Mat tVec( 3, 1, CV_32F ); // Translation vector
      tVec.at<float>( 0 ) = 21.408294677734375;
      tVec.at<float>( 1 ) = 531.1319580078125;
      tVec.at<float>( 2 ) = 705.74224853515625;

      cv::Mat distCoeffs( 5, 1, CV_32F );   // Distortion vector
      distCoeffs.at<float>( 0 ) = 0;
      distCoeffs.at<float>( 1 ) = 0;
      distCoeffs.at<float>( 2 ) = 0;
      distCoeffs.at<float>( 3 ) = 0;
      distCoeffs.at<float>( 4 ) = 0;

      std::vector<cv::Point2d> projectedPoints;
      std::vector < cv::Point3d> ContactPoints;

      for ( int i = 0; i < contacts.size(); i++ )
      {
        cv::Point3d pt;

        pt.x = contacts[i][0];
        pt.y = contacts[i][1];
        pt.z = contacts[i][2];

        ContactPoints.push_back( pt );
      }


      cv::projectPoints( ContactPoints, rVec, tVec, cameraIntrinsics, distCoeffs, projectedPoints );

      for ( size_t i = 0; i < projectedPoints.size(); i++ )
      {
        cv::Point2d pt;

        pt.x = projectedPoints[i].x;
        pt.y = projectedPoints[i].y;

        cv::circle( src, pt, 10, cv::Scalar( 255, 0, 255 ), -1 );
      }

      imshow( "My window", src );
    }
  }

cv:waitKey( 0 );
  return 0;
}

Answer 1

你的内在参数太小了：对于物理准针孔相机来说，1.6像素的焦距是无意义的。

使用OpenCV投影点

1 个答案: