I have a set of 3d points in world coordinates and respective correspondences with 2d points in an image. I want to find a matrix that gives me the transformation between these set of points. How can I do this in OpenCV?
cv::solvePnP()
是您要寻找的东西,它从3D-2D点对应关系中找到一个对象姿势,并产生一个旋转向量( rvec
),该向量与平移向量( tvec
)一起从模型坐标系中获取点相机坐标系。
you can use solvePnP for this:
// camMatrix based on img size
int max_d = std::max(img.rows,img.cols);
Mat camMatrix = (Mat_<double>(3,3) <<
max_d, 0, img.cols/2.0,
0, max_d, img.rows/2.0,
0, 0, 1.0);
// 2d -> 3d correspondence
vector<Point2d> pts2d = ...
vector<Point3d> pts3d = ...
Mat rvec,tvec;
solvePnP(pts3d, pts2d, camMatrix, Mat(1,4,CV_64F,0.0), rvec, tvec, false, SOLVEPNP_EPNP);
// get 3d rot mat
Mat rotM(3, 3, CV_64F);
Rodrigues(rvec, rotM);
// push tvec to transposed Mat
Mat rotMT = rotM.t();
rotMT.push_back(tvec.reshape(1, 1));
// transpose back, and multiply
return camMatrix * rotMT.t();
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