Question

我有一个应用程序，可以在两个不同的图像中找到相同的基准标记。我正在尝试使用cvsba（围绕SBA的opencv包装器）对结果进行包调整。根据{{3}}中的代码我经过两个帧，找到基准标记，然后按以下方式存储数据：

std::vector< cv::Point3f > points3D;
std::vector< std::vector< cv::Point2f > > pointsImg;
std::vector< std::vector< int > > visibility;
std::vector< cv::Mat > cameraMatrices, distCoeffsss, RotsMatrices, TransMatrices;

for (int f = 0; f < frames.size(); f++)
    {

        // read the input image 
        cv::Mat InImage = frames[f].clone();    
        cv::cvtColor(InImage, InImage, cv::COLOR_BGR2GRAY);


        // detect markers and estimate pose
        aruco::detectMarkers(InImage, dictionary, corners, ids, detectorParams, rejected);
        if (estimatePose && ids.size() > 0)
            aruco::estimatePoseSingleMarkers(corners, markerLength, camMatrix, distCoeffs, rvecs,
                tvecs);


        std::vector<cv::Point2f> cnrs2d;
        std::vector<int> vis; //set visibility

        for (int i = 0; i < ids.size(); i++)
        {
            /*Let N and M denote the number of object points and the number of cameras.
            *
            * @param  points N x 3 object points
            * @param  imagePoints M x N x 2 image points for each camera and each points.The outer  vector has M elements and each element has N elements of Point2d .
            * @param  visibility M x N x 1 visibility matrix, the element[i][j] = 1 when object point i is visible from camera j and 0 if not.
            * @param  cameraMatrix M x 3 x 3 camera matrix(intrinsic parameters) 3 x 3 camera matrix for each image
            * @param  distCoeffs M x   5  x1  distortion coefficient  for each image
            * @param R  M x 3 x 3 rotation matrix  for each image
            * @param T M x 3 x 1 translation matrix  for each image
            */


            std::vector<cv::Point3f> cnrs3d = getCornersInCameraWorld(markerLength, rvecs[i], tvecs[i]);

            std::vector<cv::Point2f> cnrs2d2 = corners[i];



            for (int v = 0; v < cnrs3d.size(); v++) //add the 3d points
            {
                points3D.push_back(cnrs3d[v]);
                cnrs2d.push_back(cnrs2d2[v]);

                vis.push_back(1);
            }    

        }    

        //add cam pose
        cv::Mat cmat = cv::Mat(3, 1, CV_64FC1, cv::Scalar::all(0));
        cv::Mat tmat = cv::Mat(3, 1, CV_64FC1, cv::Scalar::all(0));

        RotsMatrices.push_back(cmat);
        TransMatrices.push_back(tmat);

        pointsImg.push_back(cnrs2d);
        cameraMatrices.push_back(camMatrix); //add intrinsics
        distCoeffsss.push_back(distCoeffs);
        visibility.push_back(vis);

    }

然后：

   cvsba::Sba sba;

    sba.run(points3D, pointsImg, visibility, cameraMatrices, distCoeffsss, RotsMatrices, TransMatrices);

运行此命令时，它似乎已根据需要添加了所有必需的变量，但是当它尝试运行实际的sba函数时，代码崩溃。我想念什么吗？该代码在哪里出错了？

使用基准标记进行稀疏束调整

0 个答案: