世界坐标系坐标转为像素坐标系坐标
已知相机内参和畸变参数,通过已知的世界坐标,带入projectPoints函数,获得该世界坐标的图像坐标。
// 定义内参矩阵和畸变系数
cv::Mat camera_Matrix = (cv::Mat_<double>(3, 3) << fx, 0, cx, 0, fy, cy, 0, 0, 1);
cv::Mat dist_Coeffs = (cv::Mat_<double>(5, 1) << k1, k2, p1, p2, k3);
// 定义世界坐标系中的点
std::vector<cv::Point3f> worldPoints;
worldPoints.push_back(cv::Point3f(2, 3, 8));
worldPoints.push_back(cv::Point3f(4, 9, 12));
// 添加更多的世界坐标点...
// 定义图像坐标系中的点(用于存储转换结果)
std::vector<cv::Point2f> imagePoints;
// 调用projectPoints函数进行转换
cv::projectPoints(worldPoints, cv::Mat::zeros(3, 1, CV_64F), cv::Mat::zeros(3, 1, CV_64F), cameraMatrix, distCoeffs, imagePoints);
// 打印像素坐标系中的点
for (const auto& point : imagePoints)
{
std::cout << "Pixel Coordinates: (" << point.x << ", " << point.y << ")" << std::endl;
}