Questions tagged «pose-estimation»

我有一项任务是在3D坐标系中定位对象。由于我必须获得几乎精确的X和Y坐标，因此我决定跟踪一个具有已知Z坐标的颜色标记，该颜色标记将放置在移动对象的顶部，如该图中的橙色球： 首先，我已经完成了相机校准以获取固有参数，然后使用cv :: solvePnP来获取旋转和平移矢量，如以下代码所示： std::vector<cv::Point2f> imagePoints; std::vector<cv::Point3f> objectPoints; //img points are green dots in the picture imagePoints.push_back(cv::Point2f(271.,109.)); imagePoints.push_back(cv::Point2f(65.,208.)); imagePoints.push_back(cv::Point2f(334.,459.)); imagePoints.push_back(cv::Point2f(600.,225.)); //object points are measured in millimeters because calibration is done in mm also objectPoints.push_back(cv::Point3f(0., 0., 0.)); objectPoints.push_back(cv::Point3f(-511.,2181.,0.)); objectPoints.push_back(cv::Point3f(-3574.,2354.,0.)); objectPoints.push_back(cv::Point3f(-3400.,0.,0.)); cv::Mat rvec(1,3,cv::DataType<double>::type); cv::Mat tvec(1,3,cv::DataType<double>::type); cv::Mat rotationMatrix(3,3,cv::DataType<double>::type); cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, …

69 opencv  camera-calibration  pose-estimation 

是否可以将OpenCV的solvePNP与等矩形图像一起使用？我有一个等边的图像，并且在此图像中有四个点（红色点）及其像素坐标，然后我有四个对应的世界点，例如，[(0, 0, 0), (2, 0, 0), (2, 10, 0), (0, 10, 0)]如何估计相机的姿势？ 我尝试使用OpenCV，solvePnp但由于它期望使用Brown相机模型，因此无法正常工作。球形摄像机可以做到吗？

15 python  opencv  pose-estimation  opencv-solvepnp