[英]How to properly define arguments to use in triangulatePoints (opencv)?
我嘗試使用來自opencv的triangulatePoints,但我認為我做錯了事(我讀了有關stackoverflow上triangulatePoints的問題之一,但不是我所理解的一切)。 假設我有一個點坐標-pt1和pt2,分別對應左右攝像機中一個點的坐標。 Pt1和pt2是cv :: Point。
所以我有:
cv::Mat cam0(3, 4, CV_64F, k_data1) //k_data1 is [R|t] 3x4 matrix for left camera
cv::Mat cam1(3, 4, CV_64F, k_data2) //k_data2 is [R|t] 3x4 matrix for right camera
cv::Point pt1; //for left camera
cv::Point pt2 //for right camera
我也定義
cv::Mat pnt3D(1, 1, CV_64FC4).
我的問題是如何正確定義這兩點(cv :: Point)?
我試圖做到這一點:
cv::Mat_<cv::Point> cam0pnts;
cam0pnts.at<cv::Point>(0) = pt1;
cv::Mat_<cv::Point> cam1pnts;
cam1pnts.at<cv::Point>(0) = pt2;
但是應用拋出了一些異常,所以也許我做錯了。
好的,在@Optimus 1072的幫助下,我更正了一些代碼行,並得到了以下內容:
double pCam0[16], pCam1[16];
cv::Point pt1 = m_history.getPoint(0);
cv::Point pt2 = m_history.getPoint(1);
m_cam1.GetOpenglProjectionMatrix(pCam0, 640, 480);
m_cam2.GetOpenglProjectionMatrix(pCam1, 640, 480);
cv::Mat cam0(3, 4, CV_64F, pCam0);
cv::Mat cam1(3, 4, CV_64F, pCam1);
vector<cv::Point2f> pt1Vec;
vector<cv::Point2f> pt2Vec;
pt1Vec.push_back(pt1);
pt2Vec.push_back(pt2);
cv::Mat pnt3D(1,1, CV_64FC4);
cv::triangulatePoints(cam0, cam1, pt1Vec, pt2Vec, pnt3D);
但是我仍然有一個例外:
... opencv \\ opencv-2.4.0 \\ opencv \\ modules \\ calib3d \\ src \\ triangulate.cpp:75:錯誤:(-209)項目點坐標數必須== 2
我認為正確的方法是像這樣形成兩個二維點的向量
vector<Point2f> pt1;
vector<Point2f> pt2;
然后你可以在這個向量中插入點
Point p;
p.x = x;
p.y = y;
pt1.push_back(p);
最終,這可行:
cv::Mat pointsMat1(2, 1, CV_64F);
cv::Mat pointsMat2(2, 1, CV_64F);
int size0 = m_history.getHistorySize();
for(int i = 0; i < size0; i++)
{
cv::Point pt1 = m_history.getOriginalPoint(0, i);
cv::Point pt2 = m_history.getOriginalPoint(1, i);
pointsMat1.at<double>(0,0) = pt1.x;
pointsMat1.at<double>(1,0) = pt1.y;
pointsMat2.at<double>(0,0) = pt2.x;
pointsMat2.at<double>(1,0) = pt2.y;
cv::Mat pnts3D(4, 1, CV_64F);
cv::triangulatePoints(m_projectionMat1, m_projectionMat2, pointsMat1, pointsMat2, pnts3D);
}
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