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我在使用 cvProjectPoints2 函数时遇到了一些问题。以下是 O'Reilly 的“Learning OpenCV”一书中的功能概述:

void cvProjectPoints2(
const CvMat* object_points,
const CvMat* rotation_vector,
const CvMat* translation_vector,
const CvMat* intrinsic_matrix,
const CvMat* distortion_coeffs,
CvMat* image_points,
);

第一个参数object_points是您要投影的点列表;它只是一个包含点位置的 N×3 矩阵。您可以在对象自己的局部坐标系中给出这些,然后提供 3×1 矩阵rotation_vector* 并translation_vector关联两个坐标。如果在您的特定上下文中直接在相机坐标中工作更容易,那么您可以object_points在该系统中给出并设置两者rotation_vectortranslation_vector包含 0。†

intrinsic_matrixdistortion_coeffs只是来自第 11 章讨论的 cvCalibrateCamera2() 的相机固有信息和失真系数。参数image_points是一个 N×2 矩阵,计算结果将写入其中。

object_points首先,数组似乎有一个错误。如果只有一个点,即 N=1,程序就会崩溃。无论如何,我有几个相机内在参数和投影矩阵。失真系数为0,即没有失真。为简单起见,假设我有 2 个摄像头:

double intrinsic[2][3][3] = {
//camera 0
1884.190000,    0, 513.700000,
0.0,    1887.490000,    395.609000,
0.0,    0.0,    1.0,
//camera 4
1877.360000,    0.415492,   579.467000,
0.0,    1882.430000,    409.612000,
0.0,    0.0,    1.0
};

double projection[2][3][4] = {
//camera 0
0.962107,   -0.005824,  0.272486,   -14.832727,
0.004023,   0.999964,   0.007166,   0.093097,
-0.272519,  -0.005795,  0.962095,   -0.005195,
//camera 4
1.000000,   0.000000,   -0.000000,  0.000006,
0.000000,   1.000000,   -0.000000,  0.000001,
-0.000000,  -0.000000,  1.000000,   -0.000003
};

据我了解,此信息足以在任何相机视图上投影任何点 (x,y,z)。这里,在 x,y,z 坐标中,摄像机 4 的光学中心是世界坐标的原点。

这是我的代码:

#include <cv.h>
#include <highgui.h>
#include <cvaux.h>
#include <cxcore.h>
#include <stdio.h>

double intrinsic[2][3][3] = {
//0
1884.190000,    0, 513.700000,
0.0,    1887.490000,    395.609000,
0.0,    0.0,    1.0,
//4
1877.360000,    0.415492,   579.467000,
0.0,    1882.430000,    409.612000,
0.0,    0.0,    1.0
};

double projection[2][3][4] = {
//0
0.962107,   -0.005824,  0.272486,   -14.832727,
0.004023,   0.999964,   0.007166,   0.093097,
-0.272519,  -0.005795,  0.962095,   -0.005195,
//4
1.000000,   0.000000,   -0.000000,  0.000006,
0.000000,   1.000000,   -0.000000,  0.000001,
-0.000000,  -0.000000,  1.000000,   -0.000003
};


int main() {
    CvMat* camera_matrix[2]; //
    CvMat* rotation_matrix[2]; //
    CvMat* dist_coeffs[2]; 
    CvMat* translation[2];
    IplImage* image[2];
    image[0] = cvLoadImage("color-cam0-f000.bmp", 1);
    image[1] = cvLoadImage("color-cam4-f000.bmp", 1);
    CvSize image_size;
    image_size = cvSize(image[0]->width, image[0]->height);

    for (int m=0; m<2; m++) {
        camera_matrix[m] = cvCreateMat(3, 3, CV_32F);
        dist_coeffs[m] = cvCreateMat(1, 4, CV_32F);
        rotation_matrix[m] = cvCreateMat(3, 3, CV_32F);
        translation[m] = cvCreateMat(3, 1, CV_32F);
    }

    for (int m=0; m<2; m++) {
        for (int i=0; i<3; i++)
            for (int j=0; j<3; j++) {
                cvmSet(camera_matrix[m],i,j, intrinsic[m][i][j]);
                cvmSet(rotation_matrix[m],i,j, projection[m][i][j]);
            }
        for (int i=0; i<4; i++)
            cvmSet(dist_coeffs[m], 0, i, 0);
        for (int i=0; i<3; i++)
            cvmSet(translation[m], i, 0, projection[m][i][3]);
    }

    CvMat* vector = cvCreateMat(3, 1, CV_32F);
    CvMat* object_points = cvCreateMat(10, 3, CV_32F);
    cvmSet(object_points, 0, 0, 1000);
    cvmSet(object_points, 0, 1, 500);
    cvmSet(object_points, 0, 2, 100);

    CvMat* image_points = cvCreateMat(10, 2, CV_32F);
    int m = 0;
    cvRodrigues2(rotation_matrix[m], vector);
    cvProjectPoints2(object_points, vector, translation[m], camera_matrix[m], dist_coeffs[m], image_points);
    printf("%f\n", cvmGet(image_points, 0, 0));
    printf("%f\n", cvmGet(image_points, 0, 1));
    return 0;
}

图像是 1024*768,z 的可见部分已知在 44 到 120 之间。所以,应该在两个相机上都看到这个点,对吧?但结果是绝对错误的。即使对于 m = 1。我做错了什么?

4

1 回答 1

3

是的,cvProjectPoints 用于投影点数组。您可以使用简单的矩阵运算来投影一个点:

CvMat *pt = cvCreateMat(3, 1, CV_32FC1);
CvMat *pt_rt = cvCreateMat(3, 1, CV_32FC1);
CvMat *proj_pt = cvCreateMat(3, 1, CV_32FC1);
cvMatMulAdd(rotMat, pt, translation, pt_rt);
cvMatMul(intrinsic, pt_rt, proj_pt);
// convertPointsHomogenious might be used
float scale = (float)CV_MAT_ELEM(*proj_pt, float, 2, 0); 
float x = CV_MAT_ELEM(*proj_pt, float, 0, 0) / scale;
float y = CV_MAT_ELEM(*proj_pt, float, 1, 0) / scale;
CvPoint2D32f img_pt = cvPoint2D32f(x, y);
于 2010-07-23T14:29:58.753 回答