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投射點我想:使用OpenCV的
- 做射線平面相交針對幾個點是在世界座標,
- 然後我得到的是相交
- 那麼那些點我試着將這些點從該世界座標投影到圖像座標,
但我得到的點在0.4,0.1,0.5等範圍內。
下面是我在做什麼,希望你發現錯誤
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;
}
該cameraIntriniscs看起來真的很奇怪...焦距太小(它通常在100s甚至1000s ...並且中心也太小,通常它是在圖像中心lke)。這將是就像在一個角落......你是如何獲得它的? – api55
@ api55我從ARKIT –
嗯,這很奇怪...他們看起來完全錯誤,至少對於OpenCV來說,它可能是某種程度上的縮放,或者它使用不同的符號,或兩者兼而有之。[Here](http://ksimek.github.io/2013/08/13/intrinsic/)可以找到更多關於相機矩陣的信息。當焦距小於真實焦距時,你會看到較小的物體......這對你的行爲是有意義的,而且,在你的情況下,光學中心爲0,嘗試使用1600作爲焦距,圖像的中間爲中心(例如,如果它是640x480,它會在319.5,239.5),你可能會得到一些讓事情更有意義 – api55