[英]initialize Camera parameters from yml file opencv C++
我保存了在https://github.com/opencv/opencv/blob/master/samples/cpp/stitching_detailed.cpp中定義的CameraParams。 相機參數結構如下所示:
struct CV_EXPORTS CameraParams
{
CameraParams();
CameraParams(const CameraParams& other);
const CameraParams& operator =(const CameraParams& other);
Mat K() const;
double focal; // Focal length
double aspect; // Aspect ratio
double ppx; // Principal point X
double ppy; // Principal point Y
Mat R; // Rotation
Mat t; // Translation
};
我使用以下腳本將此相機參數寫入yml文件:
<cameraParams> cameras;
FileStorage fs(fileName, FileStorage::WRITE);
fs << "K" << cameras.K();
fs << "R" << cameras.R;
fs << "t" << cameras.t;
fs << "ppx" << cameras.ppx;
fs << "ppy" << cameras.ppy;
fs << "focal" << cameras.focal;
fs << "aspect" << cameras.aspect;
fs.release();
這是文件內容的樣子:
%YAML:1.0
---
K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 2.4125938056164614e+003, 0., 447., 0.,
2.4125938056164614e+003, 3.3550000000000000e+002, 0., 0., 1. ]
R: !!opencv-matrix
rows: 3
cols: 3
dt: f
data: [ -9.67408061e-001, 7.91518241e-002, -2.40534484e-001,
-4.17553373e-002, -9.86752093e-001, -1.56770796e-001,
-2.49756604e-001, -1.41617730e-001, 9.57896829e-001 ]
t: !!opencv-matrix
rows: 3
cols: 1
dt: d
data: [ 0., 0., 0. ]
ppx: 447.
ppy: 3.3550000000000000e+002
focal: 2.4125938056164614e+003
aspect: 1.
現在,我想使用這些相同的參數並讀回它們,但這不起作用(產生運行時錯誤)。 這是使用的讀取功能:
Mat K, R, t;
double ppx, ppy, focal, aspect;
FileStorage fs(fileName, FileStorage::READ);
fs["K"] >> K;
fs["R"] >> R;
fs["t"] >> t;
fs["ppx"] >> ppx;
fs["ppy"] >> ppy;
fs["focal"] >> focal;
fs["aspect"] >> aspect;
camerasTest[i].K() = (Mat)K;
camerasTest[i].R = R;
camerasTest[i].t = t;
camerasTest[i].ppx = (double)ppx;
camerasTest[i].ppy = (double)ppy;
camerasTest[i].focal = (double)focal;
camerasTest[i].aspect = (double)aspect;
fs.release()
我該如何解決?
初始化“ K”時某處出錯。 我進行了更改,它開始起作用。
for (int i = 0; i < num_images; ++i)
{
Mat_<float> K;
cameras[i].K().convertTo(K, CV_32F);
}
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