使用OpenCV在3D中翻译和旋转图像

时间:2011-08-11 00:03:02

标签: opencv rotation translate-animation

给定一个3 x 3旋转矩阵,R和一个3 x 1平移矩阵T,我想知道如何将T和R矩阵乘以图像?

让我们说Iplimage img是640 x 480。

我想做的是R*(T*img)

我正在考虑使用cvGemm,但这不起作用。

1 个答案:

答案 0 :(得分:4)

您正在搜索的功能可能是warpPerspective():这是一个用例......

// Projection 2D -> 3D matrix
        Mat A1 = (Mat_<double>(4,3) <<
            1, 0, -w/2,
            0, 1, -h/2,
            0, 0,    0,
            0, 0,    1);

// Rotation matrices around the X axis
        Mat R = (Mat_<double>(4, 4) <<
            1,          0,           0, 0,
            0, cos(alpha), -sin(alpha), 0,
            0, sin(alpha),  cos(alpha), 0,
            0,          0,           0, 1);

// Translation matrix on the Z axis 
        Mat T = (Mat_<double>(4, 4) <<
            1, 0, 0, 0,
            0, 1, 0, 0,
            0, 0, 1, dist,
            0, 0, 0, 1);

// Camera Intrisecs matrix 3D -> 2D
        Mat A2 = (Mat_<double>(3,4) <<
            f, 0, w/2, 0,
            0, f, h/2, 0,
            0, 0,   1, 0);

Mat transfo = A2 * (T * (R * A1));

Mat source;
Mat destination;

warpPerspective(source, destination, transfo, source.size(), INTER_CUBIC | WARP_INVERSE_MAP);

我希望它可以帮到你,

于连

PS:我举例说明了从2D到3D的投影,但你可以直接使用transfo = T * R;