VS C++代码转到函数定义不准确

问题:VS2022中C++代码通过F12或者Ctrl +鼠标左键无法准确定位到函数定义,类函数导航栏选中也不准确

解决:可能是正在编辑修改的代码文件行索引问题,可能是切换git分支后没有清理之前相关代码数据导致

1、通过资源管理器右键该文件【从项目中排除】该文件,然后再从【现有项添加】回来尝试;

2、如果是Cmake构建,建议清理掉所有build文件夹中内容(.vs文件夹,.vcxproj等文件,source文件夹)后重新构建即可

  • 1
    点赞
  • 1
    收藏
    觉得还不错? 一键收藏
  • 0
    评论
#include <graphics.h> #include <stdlib.h> #include <dos.h> #include <conio.h> #include <math.h> #include <malloc.h> #define G 9.8 /*重力加速度*/ #define PI 3.141593 /*圆周率*/ #define L1 60 /*小屋运动的范围*/ #define T1 100 #define R1 200 #define B1 450 #define AMD1 5 /*修订数*/ #define AMD2 1.78 /*修订数*/ /*鼠标信息宏定义*/ #define WAITING 0xff00 #define LEFTPRESS 0xff01 #define LEFTCLICK 0xff10 #define LEFTDRAG 0xff19 #define RIGHTPRESS 0xff02 #define RIGHTCLICK 0xff20 #define RIGHTDRAG 0xff2a #define MIDDLEPRESS 0xff04 #define MIDDLECLICK 0xff40 #define MIDDLEDRAG 0xff4c #define MOUSEMOVE 0xff08 int Keystate; int MouseExist; int MouseButton; int MouseX; int MouseY; int up[16][16],down[16][16],mouse_draw[16][16],pixel_save[16][16]; void MouseMath()/*计算鼠标的样子*/ { int i,j,jj,k; long UpNum[16]={ 0x3fff,0x1fff,0x0fff,0x07ff, 0x03ff,0x01ff,0x00ff,0x007f, 0x003f,0x00ff,0x01ff,0x10ff, 0x30ff,0xf87f,0xf87f,0xfc3f }; long DownNum[16]={ 0x0000,0x7c00,0x6000,0x7000, 0x7800,0x7c00,0x7e00,0x7f00, 0x7f80,0x7e00,0x7c00,0x4600, 0x0600,0x0300,0x0300,0x0180 }; for(i=0;i<16;i++) { j=jj=15; while(UpNum[i]!=0) { up[i][j]=UpNum[i]%2; j--; UpNum[i]/=2; } while(DownNum[i]!=0) { down[i][jj--]=DownNum[i]%2; DownNum[i]/=2; } for(k=j;k>=0;k--) up[i][k]=0; for(k=jj;k>=0;k--) down[i][k]=0; for(k=0;k<16;k++)/*四种组合方式*/ { if(up[i][k]==0&&down;[i][k]==0) mouse_draw[i][k]=1; else if(up[i][k]==0&&down;[i][k]==1) mouse_draw[i][k]=2; else if(up[i][k]==1&&down;[i][k]==0) mouse_draw[i][k]=3; else mouse_draw[i][k]=4; } } mouse_draw[1][2]=4;/*特殊点*/ } /*鼠标光标显示*/ void MouseOn() { int x=MouseX,y=MouseY; int i,j; int color; for(i=0;i<16;i++)/*画鼠标*/ { for(j=0;j<16;j++) { pixel_save[i][j]=getpixel(x+j,y+i);/*保存原来的颜色*/ if(mouse_draw[i][j]==1) putpixel(x+j,y+i,0); else if(mouse_draw[i][j]==2) putpixel(x+j,y+i,15); } } } /*隐藏鼠标*/ void MouseOff() { int i,j,x,y,color; x=MouseX; y=MouseY; for(i=0;i<16;i++)/*原位置异或消去*/ for(j=0;j<16;j++) { if(mouse_draw[i][j]==3||mouse_draw[i][j]==4) continue; color=getpixel(x+j,y+i); putpixel(x+j,y+i,color^color); putpixel(x+j,y+i,pixel_save[i][j]); } } /*鼠标状态值初始化*/ void MouseReset() { _AX=0x00; geninterrupt(0x33); } /*设置鼠标左右边界 lx:左边界 rx:右边界 */ void MouseSetX(int lx,int rx) { _CX=lx; _DX=rx; _AX=0x07; geninterrupt(0x33); } /*设置鼠标上下边界 uy:上边界 dy:下边界 */ void MouseSetY(int uy,int dy) { _CX=uy; _DX=dy; _AX=0x08; geninterrupt(0x33); } /*设置鼠标当前位置 x:横向坐标 y:纵向坐标 */ void MouseSetXY(int x,int y) { _CX=x; _DX=y; _AX=0x04; geninterrupt(0x33); } /*获取鼠标按下键的信息*/ /*是否按下左键 返回值: 1=按下 0=释放*/ int LeftPress() { _AX=0x03; geninterrupt(0x33); return(_BX&1); } /*是否按下中键 返回值同上 */ int MiddlePress() { _AX=0x03; geninterrupt(0x33); return(_BX&4); } /*是否按下右键 返回值同上 */ int RightPress() { _AX=0x03; geninterrupt(0x33); return(_BX&2); } /*获取鼠标当前位置*/ void MouseGetXY() { _AX=0x03; geninterrupt(0x33); MouseX=_CX; MouseY=_DX; } /*鼠标按键情况,返回0表示只移动,返回1表示左右键同时按下,2表示只按了左键,3表示只按了右键*/ int MouseStatus() { int x,y; int status; int press=0; int i,j,color; status=0;/*默认鼠标没有移动*/ x=MouseX; y=MouseY; while(x==MouseX&&y==MouseY&&status;==0&&press;==0) { if(LeftPress()&&RightPress;()) press=1; else if(LeftPress()) press=2; else if(RightPress()) press=3; MouseGetXY(); if(MouseX!=x||MouseY!=y) status=1; } if(status)/*移动情况才重新显示鼠标*/ { for(i=0;i<16;i++)/*原位置异或消去*/ for(j=0;j<16;j++) { if(mouse_draw[i][j]==3||mouse_draw[i][j]==4) continue; color=getpixel(x+j,y+i); putpixel(x+j,y+i,color^color); putpixel(x+j,y+i,pixel_save[i][j]); } MouseOn();/*新位置显示*/ } if(press!=0)/*有按键的情况*/ return press; return 0;/*只移动的情况*/ } /*定义玩家的结构体*/ struct Ren{ int x,y; int life; int color; int lr;/*1表示左,2表示右。*/ }; /*绘制游戏界面*/ void Desktop() { setcolor(14); line(320,0,320,480); rectangle(L1-20,T1-40,R1+20,B1+10); rectangle(640-(R1+20),(T1-40),640-(L1-20),B1+10); outtextxy(25,20,"P1"); outtextxy(345,20,"P2"); } /*把一个数字n转换成字符串,并存储在a中,带符号+-*/ void numtostr(int n,char a[5]) { int w,e; e=n; n=abs(n); a[3]=(n)+'0'; w=n/10; a[2]=(w)+'0'; w=w/10; a[1]=(w)+'0'; a[4]='\0'; if(e<0) a[0]='-'; else a[0]='+'; } /*把速度和角度装换成字符串输出*/ void AngleSpeed(double s,double angle) { int ss,aa; char zzs[5],zza[5]; int left,top,right,bottom; left=275; top=50; right=left+90; bottom=top+10; ss=(int)(s); aa=(int)((angle)*180/PI); numtostr(ss,zzs); numtostr(aa,zza); setfillstyle(1,15); setcolor(10); bar(left,top,right,bottom); outtextxy(left+5,top+3,zzs); outtextxy((left+right)/2+5,top+3,zza); circle(right-6,top+3,2); } /*实现人机对抗的函数*/ void Fire (int a[4],double *v,double *angle,int n)/*a数组存放对射的两点,v和angle存放机器射击的角度和速度,n表式机器射击的准确度*/ { int t; double vx,vy; double sx,sy; int m; m=12*4/n; randomize(); m=random(m)-m/2; t=20; sx=(double)(a[2]-a[0]); sy=(double)(a[3]-a[1]); vx=sx/(double)(t); vy=(sy-0.5*PI*(double)(t*t))/(double)(t); *angle=atan((-vy)/vx); *v=sqrt(vx*vx+vy*vy); *v=(*v)*(AMD2+0.01*(double)(m)); AngleSpeed(*v,*angle); } /*绘制生命线的函数*/ void LifePicture(int life,int color,int location) { char lm[5]; int l,t,r,b; l=50; t=20; r=l+200; b=t+10; numtostr(life,lm); setfillstyle(1,color); setcolor(15); if(location==1||location==3) { bar(l,t,r,b); setfillstyle(1,4); bar(l,t+(b-t)/4,l+life,t+3*(b-t)/4); setfillstyle(1,color); bar(r+10,t,r+50,b); outtextxy(r+10+5,t+2,lm); } else { l=320+50; r=l+200; bar(l,t,r,b); setfillstyle(1,4); bar(l,t+(b-t)/4,l+life,t+3*(b-t)/4); setfillstyle(1,color); bar(r+10,t,r+50,b); outtextxy(r+10+5,t+2,lm); } } /*绘制小屋的函数*/ void RenPicture(int x,int y,int color) { setcolor(color); setwritemode(1); line(x,y-40,x-10,y-30);/*画头*/ line(x,y-40,x+10,y-30); line(x-10,y-30,x+10,y-30); line(x-5,y-30,x-5,y-10);/*画脖子*/ line(x+5,y-30,x+5,y-10); line(x-20,y-10,x+20,y-10);/*画身子*/ line(x-20,y+10,x+20,y+10); line(x-20,y-10,x-20,y+10); line(x+20,y-10,x+20,y+10); } /*绘制箭的函数*/ void PictureBullets (int wx,int wy,int tx,int ty) { setcolor(RED); line(wx,wy,tx,ty); line(wx-1,wy-1,tx,ty); line(wx+1,wy+1,tx,ty); } /*绘制小屋上箭的函数*/ void InitialArrow (int x,int y,int a[4]) { int addx,addy; addx=(a[2]-a[0])/6; addy=(a[3]-a[1])/6; PictureBullets(x+addx,y+addy,x,y); } /*判断点qx,qy在直线的什么位置*/ int PointPlace(int qx,int qy,int x1,int y1,int x2,int y2)/*返回0表示在直线上,当斜率存在时:1表示在直线的上面,2表示在直线的下面,当斜率不存在时:3表示在左面,4表示在右面*/ { int s; if(x1==x2) { if(qx<x1) return 3; else if(qx>x1) return 4; else return 0; } else { s=(int)(((double)(y1-y2))/((double)(x1-x2))*((double)(qx-x1))+(double)(y1)); if(qy<s) return 1; else if(qy>s) return 2; else return 0; } } /*根据两点坐标计算出两点距离和斜率。*/ void DistanceAngle (int twoxy1[4],double *distance,double *angle) { double a,b; if(twoxy1[0]!=twoxy1[2]) { a=(double)((double)((double)twoxy1[3]-(double)twoxy1[1])/(double)((double)twoxy1[0]-(double)twoxy1[2])); *angle=atan(a); if(twoxy1[0]<twoxy1[2]) *angle=PI+(*angle); } else if(twoxy1[1]<twoxy1[3]) *angle=PI/2; else *angle=-PI/2; b=(double)((double)(twoxy1[3]-twoxy1[1])*(double)(twoxy1[3]-twoxy1[1])+(double)(twoxy1[2]-twoxy1[0])*(double)(twoxy1[2]-twoxy1[0])); *distance=sqrt(b); } /*由速度角度算sx,sy随时间的变化*/ void RelativePosition(int *sx,int *sy,double v,double angle,double t) { *sx=(int)((v*cos(angle))*t); *sy=(int)((v*sin(angle))*t-0.5*G*t*t); } /*用鼠标画一条直线,把直线的两点坐标放在twoxy数组内。*/ void TwoPoints(int twoxy[4],int dx,int dy) { int i,q=1; int ddx=dx,ddy=dy; double speed=0.0,angle=0.0; twoxy[0]=0; twoxy[1]=0; setcolor(13); line(dx,dy+30,dx,dy-30); line(dx-30,dy,dx+30,dy); setcolor(4); MouseOn();/*显示鼠标*/ setwritemode(1); i=0; while(q) { if(i==1) { MouseOff(); DistanceAngle(twoxy,&speed;,&angle;); AngleSpeed(speed/AMD1,angle); InitialArrow (ddx,ddy,twoxy); setcolor(4); line(twoxy[0],twoxy[1],twoxy[2],twoxy[3]); MouseOn(); if((twoxy[2]!=MouseX)||(twoxy[3]!=MouseY)) { twoxy[2]=MouseX; twoxy[3]=MouseY; MouseOff(); DistanceAngle(twoxy,&speed;,&angle;); AngleSpeed(speed/AMD1,angle); InitialArrow (ddx,ddy,twoxy); setcolor(4); line(twoxy[0],twoxy[1],twoxy[2],twoxy[3]); MouseOn(); } } if(MouseStatus()) { sound(1000);/*响声函数*/ delay(10000); nosound(); delay(1000000); delay(1000000); delay(1000000); delay(1000000); if(i==0) { twoxy[0]=MouseX; twoxy[1]=MouseY; twoxy[2]=MouseX; twoxy[3]=MouseY; i=1; } else { MouseOff(); DistanceAngle(twoxy,&speed;,&angle;); AngleSpeed(speed/AMD1,angle); InitialArrow (ddx,ddy,twoxy); setcolor(4); line(twoxy[0],twoxy[1],twoxy[2],twoxy[3]); setcolor(13); line(dx,dy+30,dx,dy-30); line(dx-30,dy,dx+30,dy); q=0; i=0; } } } } /*发射箭,speed1和speed2控制速度,返回中弹位置*/ int Launch(int lx,int ly,int tx,int ty,int hm,int grade) { double speed1=0.01; int speed2=1000; int a[4]; int xx[2],xy[2]; double s=0.0,angle=0.0,t=0.0; lx=lx;ly=ly-50; if(hm==3) { a[0]=lx; a[1]=ly; a[2]=tx; a[3]=ty; Fire (a,&s,&angle;,grade); } else { TwoPoints(a,lx,ly); DistanceAngle(a,&s,&angle;); s=s/AMD1; } RelativePosition(&xx;[0],&xy;[0],s,angle,t-1); RelativePosition(&xx;[1],&xy;[1],s,angle,t); for(t=0.0;ly-xy[1]<480;t=t+speed1) { RelativePosition(&xx;[0],&xy;[0],s,angle,t-1); RelativePosition(&xx;[1],&xy;[1],s,angle,t); if(PointPlace(lx+xx[1],ly-xy[1],tx,ty-40,tx+10,ty-30)==2&&PointPlace;(lx+xx[1],ly-xy[1],tx,ty-40,tx-10,ty-30)==2&&PointPlace;(lx+xx[1],ly-xy[1],tx-10,ty-30,tx+10,ty-30)==1) { sound(4000);/*响声函数*/ delay(10000); nosound(); return 1; } if(PointPlace(lx+xx[1],ly-xy[1],tx-5,ty-30,tx+5,ty-30)==2&&PointPlace;(lx+xx[1],ly-xy[1],tx-5,ty-10,tx+5,ty-10)==1&&PointPlace;(lx+xx[1],ly-xy[1],tx-5,ty-30,tx-5,ty-10)==4&&PointPlace;(lx+xx[1],ly-xy[1],tx+5,ty-30,tx+5,ty-10)==3) { sound(3000);/*响声函数*/ delay(10000); nosound(); return 2; } if(PointPlace(lx+xx[1],ly-xy[1],tx-20,ty-10,tx-20,ty+10)==4&&PointPlace;(lx+xx[1],ly-xy[1],tx+20,ty-10,tx+20,ty+10)==3&&PointPlace;(lx+xx[1],ly-xy[1],tx-20,ty-10,tx+20,ty-10)==2&&PointPlace;(lx+xx[1],ly-xy[1],tx-20,ty+10,tx+20,ty+10)==1) { sound(2000);/*响声函数*/ delay(10000); nosound(); return 3; } if(ly-xy[1]<1) { delay(speed2); continue; } if(lx+xx[1]<1||lx+xx[1]>640-1) { return 0; } PictureBullets (lx+xx[0],ly-xy[0],lx+xx[1],ly-xy[1]); delay(speed2); PictureBullets (lx+xx[0],ly-xy[0],lx+xx[1],ly-xy[1]); } return 0; } /*小屋移动的函数*/ int MoveRen(struct Ren *p) { int a,k=19200,b=0,d; int q=1; randomize(); for(;q;) { if(b==1) { p->lr=3; } RenPicture(p->x,p->y,p->color); if(p->lr==3) { b=1; delay(10000); delay(10000); delay(10000); delay(10000); delay(10000); delay(10000); //sleep(1); d=random(10); if(d==0) k=19200; if(d==1) k=19712; if(d==2) k=18432; if(d==3) k=20480; if(d==4) k=7181; p->lr=1; } else { k=bioskey(0); } RenPicture(p->x,p->y,p->color); switch(k){ case 19200: /*按向左键*/ a=(p->x)-5; if(p->lr==1) { if(a>L1&&a<R1) { p->x=a; break; } } else { if(a>640-R1&&a<640-L1) { p->x=a; break; } } break; case 19712: /*按向右键*/ a=(p->x)+5; if(p->lr==1) { if(a>L1&&a<R1) { p->x=a; break; } } else { if(a>640-R1&&a<640-L1) { p->x=a; break; } } break; case 18432: /*按向上键*/ a=(p->y)-5; if(p->lr==1) { if(a>T1&&a<B1) { p->y=a; break; } } else { if(a>T1&&a<B1) { p->y=a; break; } } break; case 20480: /*按向下键*/ a=(p->y)+5; if(a>T1&&a<B1) { p->y=a; } break; case 7181: /*enter键的扫描码*/ if(b==1) p->lr=3; q=0; break; case 283: return 0; } } RenPicture(p->x,p->y,p->color); return 1; } /*游戏开始前画面*/ int GameStar()/*返回1表示单人游戏初级,2表示单人游戏中级,3表示单人游戏高级,4表示两人对战,5表示退出游戏*/ { int q,k,h=0; for(;1;) { q=1; cleardevice();/*清屏函数*/ setcolor(15); settextstyle(0,0,5); outtextxy(100,100,"Start Game!"); settextstyle(0,0,1); outtextxy(20,300,"keys used:"); outtextxy(20,300," Arrow keys"); outtextxy(20,310," The left mouse button"); outtextxy(20,320," Enter"); outtextxy(20,330," Esc to Quit!"); setcolor(5); outtextxy(250,400,"One player!"); outtextxy(250,420,"Two players!"); outtextxy(250,440,"Quit!"); setwritemode(1); setcolor(6); rectangle(245,395+h*20,345,415+h*20); for(;q;) { setcolor(6); k=bioskey(0); sound(1000);/*响声函数*/ delay(10000); nosound(); if(k==20480) { rectangle(245,395+h*20,345,415+h*20); h=(h+1)%3; rectangle(245,395+h*20,345,415+h*20); }else if(k==7181) { if(h==0)/*单人游戏,选择等级*/ { cleardevice();/*清屏函数*/ setcolor(2); outtextxy(20,30," Esc to back!"); outtextxy(250,240,"Lower"); outtextxy(250,260,"Middle"); outtextxy(250,280,"Higher"); setcolor(4); rectangle(245,235+h*20,300,255+h*20); for(;q;) { k=bioskey(0); sound(1000);/*响声函数*/ delay(10000); nosound(); if(k==20480) { rectangle(245,235+h*20,300,255+h*20); h=(h+1)%3; rectangle(245,235+h*20,300,255+h*20); }else if(k==7181) { return h+1; }else if(k==283) { h=0; k=1; q=0; break; }else{} } } if(h==1)/*两人对抗*/ return 4; if(h==2)/*退出游戏*/ return 5; }else if(k==283) { return 5; }else {} } } } /*退出游戏画面*/ void GameOver() { cleardevice();/*清屏函数*/ setcolor(14); settextstyle(0,0,6); outtextxy(100,200,"Game Over!"); settextstyle(1,0,1); outtextxy(400,400,"Producer:ChenChen"); outtextxy(400,410," QQ:804620957"); outtextxy(400,420," Time:2010.5.28"); } /*主函数*/ void main() { int gd=DETECT,gm; int q=0,schoose=1; int out=1; int pmc=1; int cla2s=1; struct Ren ren1,ren2; initgraph(&gd;,&gm;,""); /* registerbgidriver(EGAVGA_driver);*/ cleardevice();/*清屏函数*/ MouseMath();/*计算鼠标形状,一开始必须使用,后面就不用了*/ MouseSetY(0,479); MouseSetX(0,649); MouseSetXY(100,100); for(;out;) { pmc=GameStar(); cleardevice();/*清屏函数*/ settextstyle(1,0,1);/*初始化*/ schoose=1; ren2.x=540;ren2.y=320;ren2.life=200;ren2.color=3;ren2.lr=2; if(pmc<4) { ren1.x=640-ren2.x;ren1.y=ren2.y;ren1.life=ren2.life;ren1.color=2;ren1.lr=3; cla2s=pmc; }else if(pmc==4) { ren1.x=640-ren2.x;ren1.y=ren2.y;ren1.life=ren2.life;ren1.color=2;ren1.lr=1; }else { break;} Desktop(); AngleSpeed(0,0); RenPicture(ren1.x,ren1.y,ren1.color); RenPicture(ren2.x,ren2.y,ren2.color); LifePicture(ren1.life,ren1.color,ren1.lr); LifePicture(ren2.life,ren2.color,ren2.lr); for(;ren1.life>0&&ren2;.life>0;schoose++) { if(schoose%2) { RenPicture(ren1.x,ren1.y,ren1.color); if(MoveRen(&ren1;)==0) break; q=Launch(ren1.x,ren1.y,ren2.x,ren2.y,ren1.lr,cla2s); if(q==1) ren2.life=ren2.life-40; if(q==2) ren2.life=ren2.life-20; if(q==3) ren2.life=ren2.life-10; if(ren2.life<0) ren2.life=0; LifePicture(ren2.life,ren2.color,ren2.lr); } else { RenPicture(ren2.x,ren2.y,ren2.color); if(MoveRen(&ren2;)==0) break; q=Launch(ren2.x,ren2.y,ren1.x,ren1.y,ren2.lr,cla2s); if(q==1) ren1.life=ren1.life-40; if(q==2) ren1.life=ren1.life-20; if(q==3) ren1.life=ren1.life-10; if(ren1.life<0) ren1.life=0; LifePicture(ren1.life,ren1.color,ren1.lr); } } if(ren1.life<ren2.life) { settextstyle(0,0,6); setcolor(ren2.color); outtextxy(150,280,"P2 win!"); settextstyle(1,0,1); } else if(ren1.life>ren2.life) { settextstyle(0,0,6); setcolor(ren1.color); outtextxy(150,280,"P1 win!"); settextstyle(1,0,1); } else { settextstyle(0,0,6); setcolor(15); outtextxy(150,280,"Drew!"); settextstyle(1,0,1); } getch(); } GameOver(); getch(); closegraph(); }
### 回答1: 假设有一个像素点的坐标为 $(x_p, y_p)$,相机的内参矩阵为 $K$,该相机的位姿为 $T$,则该像素点在相机坐标系下的坐标为: $$ \begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} = K^{-1}\begin{bmatrix} x_p \\ y_p \\ 1 \end{bmatrix} $$ 然后将相机坐标系下的点转换到世界坐标系下,即 $$ \begin{bmatrix} X_w \\ Y_w \\ Z_w \\ 1 \end{bmatrix} = T\begin{bmatrix} X_c \\ Y_c \\ Z_c \\ 1 \end{bmatrix} $$ 以下是一个将像素坐标转换为相机坐标的 C++ 代码示例: ```c++ #include <iostream> #include <opencv2/opencv.hpp> using namespace std; using namespace cv; int main() { // 像素坐标 double x_p = 300; double y_p = 200; // 相机内参矩阵 Mat K = (Mat_<double>(3, 3) << 1000, 0, 500, 0, 1000, 400, 0, 0, 1); // 相机位姿 Mat R = (Mat_<double>(3, 3) << 1, 0, 0, 0, 1, 0, 0, 0, 1); Mat t = (Mat_<double>(3, 1) << 0, 0, 0); Mat T = Mat::eye(4, 4, CV_64F); R.copyTo(T(Rect(0, 0, 3, 3))); t.copyTo(T(Rect(3, 0, 1, 3))); // 像素坐标转相机坐标 Mat p_pixel = (Mat_<double>(3, 1) << x_p, y_p, 1); Mat p_camera = K.inv() * p_pixel; p_camera /= p_camera.at<double>(2); // 相机坐标转世界坐标 Mat p_camera_homo = Mat::ones(4, 1, CV_64F); p_camera.copyTo(p_camera_homo(Rect(0, 0, 1, 3))); Mat p_world_homo = T * p_camera_homo; Mat p_world = p_world_homo(Rect(0, 0, 1, 3)); cout << "像素坐标:(" << x_p << ", " << y_p << ")" << endl; cout << "相机坐标:(" << p_camera.at<double>(0) << ", " << p_camera.at<double>(1) << ", " << p_camera.at<double>(2) << ")" << endl; cout << "世界坐标:(" << p_world.at<double>(0) << ", " << p_world.at<double>(1) << ", " << p_world.at<double>(2) << ")" << endl; return 0; } ``` ### 回答2: 要将像素坐标转换为相机坐标,需要考虑相机的内参矩阵和畸变系数。以下是一个例子,展示了如何使用OpenCV库中的函数来实现这个转换。 ``` import cv2 import numpy as np def pixel_to_camera(pixel_coord, camera_matrix, distortion_coeffs): # 定义相机坐标系原点在图像中心的偏移量 cx = camera_matrix[0, 2] cy = camera_matrix[1, 2] # 获取相机内参矩阵的缩放因子 fx = camera_matrix[0, 0] fy = camera_matrix[1, 1] # 定义畸变系数 k1 = distortion_coeffs[0] k2 = distortion_coeffs[1] p1 = distortion_coeffs[2] p2 = distortion_coeffs[3] k3 = distortion_coeffs[4] # 计算相机坐标系中的x和y坐标 x = (pixel_coord[0] - cx) / fx y = (pixel_coord[1] - cy) / fy # 使用畸变系数对坐标进行校正 r = np.sqrt(x * x + y * y) x_distorted = x * (1 + k1 * r * r + k2 * r * r * r * r + k3 * r * r * r * r * r * r) + \ 2 * p1 * x * y + p2 * (r * r + 2 * x * x) y_distorted = y * (1 + k1 * r * r + k2 * r * r * r * r + k3 * r * r * r * r * r * r) + \ p1 * (r * r + 2 * y * y) + 2 * p2 * x * y # 返回相机坐标系中的坐标 return np.array([x_distorted, y_distorted, 1.0]) # 示例应用 # 假设有一个2x2的相机内参矩阵和5个畸变系数 camera_matrix = np.array([[2.0, 0, 1.0], [0, 2.0, 1.0], [0, 0, 1.0]]) distortion_coeffs = np.array([-0.1, 0.05, 0.0, 0.0, 0.0]) # 假设有一个像素坐标为(100, 50) pixel_coord = np.array([100, 50]) # 将像素坐标转换为相机坐标 camera_coord = pixel_to_camera(pixel_coord, camera_matrix, distortion_coeffs) print("相机坐标:", camera_coord) ``` 在这个例子中,我们首先定义了相机的内参矩阵和畸变系数。然后,我们定义了一个`pixel_to_camera`函数,它接受一个像素坐标和相机参数,并返回相机坐标。 在函数中,我们通过减去相机内参矩阵中的中心偏移量,并除以缩放因子,将像素坐标转换为相机坐标系中的坐标。然后,我们使用畸变系数对相机坐标进行校正,以获得准确的相机坐标。 最后,我们在示例应用部分演示了如何使用这个函数,将像素坐标(100, 50)转换为相机坐标。输出结果为相机坐标(49.5, 24.75, 1.0)。 ### 回答3: 要将像素坐标转换为相机坐标c,需要根据相机的内参矩阵、相机的外参数以及像素坐标来进行计算和转换。 首先,将像素坐标表示为[u, v],其中u表示横坐标,v表示纵坐标。设相机的内参矩阵为K,外参矩阵为[R|t],其中R表示旋转矩阵,t表示平移向量。那么,像素坐标转相机坐标的过程如下: 1. 将像素坐标[u, v]的齐次坐标表示为[x, y, w],其中x = u/w,y = v/w,w = 1。 2. 计算相机坐标系下的坐标[Xc, Yc, Zc],其中: Xc = (x - px) * Zc / fx + cx Yc = (y - py) * Zc / fy + cy Zc = Zc 其中,px和py表示相机的光心坐标,fx和fy表示相机的焦距,cx和cy表示相机的主点坐标。 3. 通过旋转和平移操作,将相机坐标系下的点转换为世界坐标系或其他坐标系下的点。 以上就是将像素坐标转换为相机坐标c的主要步骤和计算公式。对于实现该转换的代码,可以按照以上步骤和公式进行编写。具体代码实现可能会根据使用的编程语言和库的不同而有所差异,可以根据具体情况进行调整和修改。

“相关推荐”对你有帮助么?

  • 非常没帮助
  • 没帮助
  • 一般
  • 有帮助
  • 非常有帮助
提交
评论
添加红包

请填写红包祝福语或标题

红包个数最小为10个

红包金额最低5元

当前余额3.43前往充值 >
需支付:10.00
成就一亿技术人!
领取后你会自动成为博主和红包主的粉丝 规则
hope_wisdom
发出的红包
实付
使用余额支付
点击重新获取
扫码支付
钱包余额 0

抵扣说明:

1.余额是钱包充值的虚拟货币,按照1:1的比例进行支付金额的抵扣。
2.余额无法直接购买下载,可以购买VIP、付费专栏及课程。

余额充值