InputArray rvec = noArray(), // initial rotation vector when using SOLVEPNP_ITERATIVE and useExtrinsicGuess is set to true InputArray tvec = noArray(), // initial translation vector when using SOLVEPNP_ITERATIVE and useExtrinsicGuess is set to true OutputArray reprojectionError = noArray() //...
vector<Point3f> tempPointSet = object_Points[i]; /*** 通过得到的摄像机内外参数,对空间的三维点进行重新投影计算,得到新的投影点 ***/ projectPoints(tempPointSet, rotation_vectors[i], translation_vectors[i], intrinsic_matrix, distortion_coeffs, image_points2); /* 计算新的投影点和旧的投影点之...
vector<Point3f> tempPointSet = object_Points[i]; /*** 通过得到的摄像机内外参数,对空间的三维点进行重新投影计算,得到新的投影点 ***/ projectPoints(tempPointSet, rotation_vectors[i], translation_vectors[i], intrinsic_matrix, distortion_coeffs, image_points2); /* 计算新的投影点和旧的投影点之...
其中,rotation_vector 和 translation_vector 分别是 Rodrigues 变换和欧拉旋转的等效表示方式。可以通过 cv::Rodrigues(rotation_vector, rotation_matrix) 函数将旋转向量转换为旋转矩阵,或者通过 cv::composeRT(rotation_vector, translation_vector, camera_rotation, camera_translation, camera_rotation_matrix, camera_...
//获取旋转后矩形对应的端点坐标 vector<Point> GetRotatePoints(Mat img, Rect inRect, double angle) { Rect rect = inRect; vector<Point>pts; Point2f center = Point2f(img.cols / 2, img.rows / 2); Mat M = getRotationMatrix2D(center, angle, 1.0); //cout << M << endl; Mat ptMat...
Camera Matrix:相机内参,包含相机横向与纵向焦距以及主点(畸变的中心点)坐标,一般焦距不会大于4000(大部分摄像头不会超过3000),不然可能是程序有误。 Dist Coeffs:相机畸变参数,包括径向畸变与切向畸变 Rotation Vectors:旋转向量 Translation Vectors:平移向量 ...
imagePoints为其对应的二维图像点。和objectPoints一样,应该输入vector类型。 imageSize为图像的大小 leftCameraMatrix是通过这个标定函数我们可以获得的内参矩阵,内参矩阵总是3*3的 leftDistCoeffs可以获得的畸变矩阵,畸变矩阵是一个5*1的矩阵(k1,k2,p1,p2,k3) ...
第二个参数imagePoints,为每一个内角点对应的图像坐标点。和objectPoints一样,应该输入vector<vector<Point2f>> image_points_seq形式的变量; 第三个参数imageSize,为图像的像素尺寸大小,在计算相机的内参和畸变矩阵时需要使用到该参数; 第四个参数cameraMatrix为相机的内参矩阵。输入一个Mat cameraMatrix即可,如Mat ...
void fixBorder(Mat &frame_stabilized) { Mat T = getRotationvoid fixBorder(Mat &frame_stabilized) { Mat T = getRotationMatrix2D(Point2f(frame_stabilized.cols/2, frame_stabilized.rows/2), 0, 1.04); warpAffine(frame_stabilized, frame_stabilized, T, frame_stabilized.size()); }Matrix2D(...
. If you use a row vector, you have to post-multiply the 3×3 rotation matrix and if you use the column vector representation you have to pre-multiply the rotation matrix to rotate the point. These two rotation matrices are not the same ( they are the transpose of each other ). ...