0

我试图从 2 帧估计世界坐标的 3D 位置。这些帧是用同一台相机从不同位置捕获的。问题是，估计是错误的。

我有

Camera Intrinsic parameters
K = [4708.29296875, 0, 1218.51806640625;
 0, 4708.8935546875, 1050.080322265625;
 0, 0, 1]

Translation and Rotation data:
Frame X-Coord    Y-Coord    Z-Coord(altitude)  Pitch          Roll            Yaw
  1   353141.23  482097.85  38.678           0.042652439    1.172694124     16.72142499
  2   353141.82  482099.69  38.684           0.097542931    1.143224387     16.79931141

Note: GPS data uses cartesian coordinate system (X,Y,Z Coordinates) is in meter units based on British National Grid GPS system.

为了获得旋转矩阵，我使用 了基于http://www.tobias-weis.de/triangulate-3d-points-from-3d-imagepoints-from-的https://stackoverflow.com/a/56666686/16432598移动相机/。使用上述数据，我计算外部参数和投影矩阵如下。

Rt0 = [-0.5284449976982357,  0.308213375891041,  -0.7910438668806931, 353141.21875;
       -0.8478960766271159,  -0.2384055118949635, 0.4735346398506075, 482097.84375;
       -0.04263950806535898, 0.9209600028339713,  0.3873171123665929, 38.67800140380859]

Rt1 = [-0.4590975294881605, 0.3270290779984009, -0.8260032933114635, 353141.8125;
       -0.8830316937622665, -0.2699087096524321, 0.3839326975722462, 482099.6875;
       -0.097388326965866,  0.905649640091175,   0.4126914624432091, 38.68399810791016]

P = K * Rt;

P1 = [-2540.030877954028,   2573.365272473235,  -3252.513377560185, 1662739447.059914;
      -4037.427278644764,   -155.5442017945203, 2636.538291686695,  2270188044.171295;
      -0.04263950806535898, 0.9209600028339713, 0.3873171123665929, 38.67800140380859]

P2 = [-2280.235105924588, 2643.299156802081, -3386.193495224041, 1662742249.915956;
      -4260.36781710715, -319.9665173096691, 2241.257388910372,  2270196732.490808;
      -0.097388326965866, 0.905649640091175, 0.4126914624432091, 38.68399810791016]

triangulatePoints(Points2d, projection_matrices, out);

现在，我在两幅图像中选择相同的点进行三角测量 p2d_1(205,806) and p2d_2(116,813) 对于这个特定点的 3D 位置，我期望类似； [353143.7, 482130.3, 40.80] 而我计算 [549845.5109014747, -417294.6070425579, -201805.410744677]

我知道我的内在参数和 GPS 数据非常准确。

谁能告诉我这里缺少什么或我做错了什么？

谢谢

4

0 回答 0