我有两张图像中的对应点集。我已经估计出了基本矩阵,它编码了相机之间的变换:
E, mask = cv2.findEssentialMat(points1, points2, 1.0)
我随后提取了旋转和平移组件:
points, R, t, mask = cv2.recoverPose(E, points1, points2)
但是我应该如何获取两个相机的矩阵,以便使用cv2.triangulatePoints
生成一个小的点云呢?
我有两张图像中的对应点集。我已经估计出了基本矩阵,它编码了相机之间的变换:
E, mask = cv2.findEssentialMat(points1, points2, 1.0)
我随后提取了旋转和平移组件:
points, R, t, mask = cv2.recoverPose(E, points1, points2)
但是我应该如何获取两个相机的矩阵,以便使用cv2.triangulatePoints
生成一个小的点云呢?
pts_l - set of n 2d points in left image. nx2 numpy float array
pts_r - set of n 2d points in right image. nx2 numpy float array
K_l - Left Camera matrix. 3x3 numpy float array
K_r - Right Camera matrix. 3x3 numpy float array
代码:
# Normalize for Esential Matrix calaculation
pts_l_norm = cv2.undistortPoints(np.expand_dims(pts_l, axis=1), cameraMatrix=K_l, distCoeffs=None)
pts_r_norm = cv2.undistortPoints(np.expand_dims(pts_r, axis=1), cameraMatrix=K_r, distCoeffs=None)
E, mask = cv2.findEssentialMat(pts_l_norm, pts_r_norm, focal=1.0, pp=(0., 0.), method=cv2.RANSAC, prob=0.999, threshold=3.0)
points, R, t, mask = cv2.recoverPose(E, pts_l_norm, pts_r_norm)
M_r = np.hstack((R, t))
M_l = np.hstack((np.eye(3, 3), np.zeros((3, 1))))
P_l = np.dot(K_l, M_l)
P_r = np.dot(K_r, M_r)
point_4d_hom = cv2.triangulatePoints(P_l, P_r, np.expand_dims(pts_l, axis=1), np.expand_dims(pts_r, axis=1))
point_4d = point_4d_hom / np.tile(point_4d_hom[-1, :], (4, 1))
point_3d = point_4d[:3, :].T
输出:
point_3d - nx3 numpy array
K_L
和K_R
? - jihan1008