5
应用实例:用于评估相机标心猿意马的表里参质量
法式如下:
cout << "每幅图像的标心猿意马误差:" << endl;
for (int i = 0; i
{
vector tempPointSet = object_Points[i];
/*object_Points是图像棋盘格角点宿世界坐标的容器,其是三通道的XYZ,此中Z通道为0。棋盘格以左上角为原点,方块巨细是12mm和12mm*/
/*依据摄像机表里参数,对空间的三维点进行重投影计较;
tempPointSet为12mm*12mm的棋盘格标心猿意马板角点宿世界坐标,
image_points2是重投影后的图像像素角点坐标*/
projectPoints(tempPointSet,
rotation_vectors[i],
translation_vectors[i],
intrinsic_matrix,
distortion_coeffs,
image_points2);
/*图像亚像素角点坐标tempImagePoint */
/*image_points2和tempImagePoint进行误差计较,评估出其表里参的质量*/
vector tempImagePoint = corners_Seq[i];
//界说双通道的Mat矩阵,每个点暗示两个数据,别离为棋盘格角点的x和y//
Mat tempImagePointMat = Mat(1, tempImagePoint.size(), CV_32FC2)