Question

I m trying to use the method cv2.estimateAffine3D but without success. Here is my code sample :

import numpy as np
import cv2

shape = (1, 4, 3)
source = np.zeros(shape, np.float32)

# [x, y, z]
source[0][0] = [857, 120, 854]
source[0][1] = [254, 120, 855]
source[0][2] = [256, 120, 255]
source[0][3] = [858, 120, 255]
target = source * 10

retval, M, inliers = cv2.estimateAffine3D(source, target)

当我尝试管理这一样本时,我获得的错误与另一个员额。

I m using OpenCV 2.4.3 and 2.7.3

请帮助我!

Answer 1

这是一种已知的 b,固定在2.4.4。

http://code. opencv.org/issues/2375

如果你需要硬性(轮换+翻译)调和,那么这里的标准方法就是:

def get_rigid(src, dst): # Assumes both or Nx3 matrices
    src_mean = src.mean(0)
    dst_mean = dst.mean(0)
    # Compute covariance 
    H = reduce(lambda s, (a,b) : s + np.outer(a, b), zip(src - src_mean, dst - dst_mean), np.zeros((3,3)))
    u, s, v = np.linalg.svd(H)
    R = v.T.dot(u.T) # Rotation
    T = - R.dot(src_mean) + dst_mean # Translation
    return np.hstack((R, T[:, np.newaxis]))

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