OpenCV包含许多支持 3D 重建的立体摄像机。 在我的例子中,我有两个摄像头,我想知道 3D 的坐标。
我有:
- pixel coordinates of point on both images
- Known intrinsic and extrinsic camera parametres
What I want to get: Coordinates this point in 3D
OpenCV包含许多支持 3D 重建的立体摄像机。 在我的例子中,我有两个摄像头,我想知道 3D 的坐标。
我有:
What I want to get: Coordinates this point in 3D
我在另一篇文章
当你没有从两个角度对点进行三角勘测的经验时, 您应该使用< a href=" http://www.robots. ox.ac.uk/~ vgg/hzbook/" rel=“ nofollow” > Hartley 和 Zissermansss book < /a> 的书。 书中描述的线性三角勘查方法非常容易使用, 即使用 2D 点对应、 相机姿势和相机校准。 该方法的示例代码为here ,以上述书籍为基础。 尽管如此,仍有一些非常重要的条件需要满足。 首先,测量的点对应物在上极约束 我不知道 Opencv 是否有这个构造。 但我知道您可以使用 angle- Side- Agle 的正弦法则, 用点 & gt; camera- gt; 其他相机的内角作为您的参考点, 来构造摄像头的直线距离水平平行线 。 到达距离后,您就可以使用相同的构造来计算垂直定位:当角度从死中心计算到点的上方或下方,以任何摄像头为参照点,与第一步中发现的物体的距离,然后可以使用90度作为您在想象的点(与相机水平相比的天体)与对象之间的角。
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