Get translation and rotation matrix of an object

来源：互联网发布：Mac软件删除编辑：程序博客网时间：2024/05/29 18:03

转自：https://groups.google.com/forum/#!topic/android-opencv/0ImAjpAL5t4

cvFindExtrinsicCameraParams2 is the old C name of the function. In C++ and Java API it is named solvePnP

Here is a usage example from Java API tests:

Mat intrinsics = Mat.eye(3, 3, CvType.CV_32F);intrinsics.put(0, 0, 400);intrinsics.put(1, 1, 400);intrinsics.put(0, 2, 640 / 2);intrinsics.put(1, 2, 480 / 2);List<Point3> points3d = new ArrayList<Point3>();List<Point> points2d = new ArrayList<Point>();int minPnpPointsNum = 4;for (int i = 0; i < minPnpPointsNum; i++) {    double x = Math.random() * 100 - 50;    double y = Math.random() * 100 - 50;    points2d.add(new Point(x, y));    points3d.add(new Point3(0, y, x));}Mat rvec = new Mat();Mat tvec = new Mat();Calib3d.solvePnP(points3d, points2d, intrinsics, new Mat(), rvec, tvec);Mat truth_rvec = new Mat(3, 1, CvType.CV_64F);truth_rvec.put(0, 0, 0, Math.PI / 2, 0);Mat truth_tvec = new Mat(3, 1, CvType.CV_64F);truth_tvec.put(0, 0, -320, -240, 400);assertMatEqual(truth_rvec, rvec, EPS);assertMatEqual(truth_tvec, tvec, EPS);

0 0