[英]What is the difference between the following 3 opencv Mat instances?
In my program i need a 3*3 matrix K(camera calibration matrix) and a 3*3 matrix F(Fundamental matrix) to calculate E(Essential matrix):E = Kt() F K,but when i use 在我的程序中,我需要一个3 * 3矩阵K(摄像机校准矩阵)和一个3 * 3矩阵F(基本矩阵)来计算E(基本矩阵):E = Kt() F K,但是当我使用时
cv::Matx33d K (518.0, 0,325.5, 0 ,519.0,253.5, 0 , 0, 1); cv :: Matx33d K(518.0,0,325.5,0,519.0,253.5,0,0,1);
it yields error: no match for 'operator*' in the line: 它产生错误:行中的'operator *'不匹配:
E = Kt() * F * K; E = Kt()* F * K;
but when i use 但是当我使用的时候
cv::Mat K(3,3,CV_64FC1); //cannot be 32 (float)
K.at<double>(0,0) = 518.0;
K.at<double>(1,1) = 519.0;
K.at<double>(0,2) = 325.5;
K.at<double>(1,2) = 253.5;
K.at<double>(2,2) = 1;
it works,but when i use 它有效,但当我使用
cv::Mat_<double> K = ( cv::Mat_<double>(3, 3) <<
518.0, 0,325.5,
0 ,519.0,253.5,
0 , 0, 1);
it works too, but yields totally different result compared with above 它也有效,但与上述相比,产量完全不同
Can anyone tell me what is the difference between the 3 opencv Mat insatances?Thanks. 任何人都可以告诉我3个opencv Mat insatances有什么区别?谢谢。
Here's all of the code 这是所有的代码
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/calib3d/calib3d.hpp>
using namespace std;
using namespace cv;
int main()
{
cout<<"Hello SLAM!"<<endl;
cv::Mat img1,img2,img;
// first method :can run ,but yeild fault result
cv::Mat K(3,3,CV_64FC1); //cannot be 32 (float)
K.at<double>(0,0) = 518.0;
K.at<double>(1,1) = 519.0;
K.at<double>(0,2) = 325.5;
K.at<double>(1,2) = 253.5;
K.at<double>(2,2) = 1;
// second method :cannont build
// cv::Matx33d K (518.0, 0,325.5,
// 0 ,519.0,253.5,
// 0 , 0, 1);//calibration matrix
// cv::Matx33d K=cv::Matx33d(518.0, 0,325.5,
// 0 ,519.0,253.5,
// 0 , 0, 1);//calibration matrix
// third method :can run ,yeild correcy result
cv::Mat_<double> K = ( cv::Mat_<double>(3, 3) <<
518.0, 0,325.5,
0 ,519.0,253.5,
0 , 0, 1);
img1= cv::imread("/home/kylefan/program/cmake_demo/image/rgb1.png",IMREAD_COLOR);
img2= cv::imread("/home/kylefan/program/cmake_demo/image/rgb2.png",IMREAD_COLOR);
vector<cv::Point2f> point1;
vector<cv::Point2f> point2;
cv::ORB orb;
vector<cv::KeyPoint>kp1,kp2;
cv::Mat desp1,desp2;
orb(img1,cv::Mat(),kp1,desp1,false);
orb(img2,cv::Mat(),kp2,desp2,false);
cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");
double knn_match_ratio = 0.3;
vector< vector<cv::DMatch>> matches_knn;
matcher->knnMatch(desp1,desp2,matches_knn,2);
vector<cv::DMatch> goodmatches;
for(int i=0;i<matches_knn.size();i++)
{
if(matches_knn[i][0].distance < knn_match_ratio * matches_knn[i][1].distance)goodmatches.push_back(matches_knn[i][0]);
}
if(goodmatches.size()<20)
{
cout<<"too less goodmatches "<<endl;
}
for(auto m:goodmatches)
{
point1.push_back(kp1[m.queryIdx].pt);
point2.push_back(kp2[m.queryIdx].pt);
}
// for(int j=0;j<goodmatches.size();j++)
// {
// //cout<<j<<":"<<point1[j].x<<","<<point1[j].y<<","<<point2[j].x<<","<<point2[j].y<<","<<endl;
// }
cv::Mat F = cv::findFundamentalMat(point1,point2,FM_RANSAC,3,0.99);//in calib3d
cv::Mat_<double> E = K.t() *F* K;
SVD svd(E);
cv::Matx33d W(0,-1,0,
1,0,0,
0,0,1);
cv::Mat_<double> R = svd.u * Mat(W) * svd.vt;
cv::Mat_<double> t = svd.u.col(2);
cv::Matx34d P1(R(0,0),R(0,1),R(0,2),t(0),
R(1,0),R(1,1),R(1,2),t(1),
R(2,0),R(2,1),R(2,2),t(2));
cout<<goodmatches.size()<<" goodmatches "<<endl;
cout<<"F="<<F<<endl;
cout<<"K="<<K<<endl;
cout<<"E="<<E<<endl;
cout<<"R="<<R<<endl;
cout<<"t="<<t<<endl;
cout<<"P1="<<P1<<endl;
if(fabsf(determinant(R))-1.0 > 1e-07)
{
cerr << "det(R) != +-1.0, this is not a rotation matrix" << endl;
}
else
{
cout<<"rotation matrix is right"<<endl;
}
return 0;
}
In your second version you didn't initialize the matrix elements and don't set them all. 在第二个版本中,您没有初始化矩阵元素,也没有将它们全部设置。
cv::Mat K(3,3,CV_64FC1); //cannot be 32 (float)
K.at<double>(0,0) = 518.0;
K.at<double>(1,1) = 519.0;
K.at<double>(0,2) = 325.5;
K.at<double>(1,2) = 253.5;
K.at<double>(2,2) = 1;
this means that there can be ANY values in indices (0,1); 这意味着索引(0,1)中可以有任何值; (1,0); (1,0); (2,0) and (2,1). (2,0)和(2,1)。
To initialize with 0 on creation try: cv::Mat::zeros()
要在创建时使用0初始化,请尝试: cv::Mat::zeros()
cv::Mat K = cv::Mat::zeros(3,3,CV_64FC1); //cannot be 32 (float)
K.at<double>(0,0) = 518.0;
K.at<double>(1,1) = 519.0;
K.at<double>(0,2) = 325.5;
K.at<double>(1,2) = 253.5;
K.at<double>(2,2) = 1;
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