利用相机参数矫正图像中的特征点像素坐标（单目，双目都可用）

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最新推荐文章于 2024-08-13 15:46:39 发布

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利用函数 undistortPoints（）

Computes the ideal point coordinates from the observed point coordinates.

C++: void undistortPoints(InputArray src, OutputArray dst, InputArray cameraMatrix, InputArray distCoeffs, InputArray R=noArray(), InputArray P=noArray())

C: void cvUndistortPoints(const CvMat* src, CvMat* dst, const CvMat* camera_matrix, const CvMat* dist_coeffs, const CvMat* R=0, const CvMat* P=0 )

Parameters:	src – Observed point coordinates, 1xN or Nx1 2-channel (CV_32FC2 or CV_64FC2). dst – Output ideal point coordinates after undistortion and reverse perspective transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates. cameraMatrix – Camera matrix $\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}$ . distCoeffs – Input vector of distortion coefficients $(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])$ of 4, 5, or 8 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed. R – Rectification transformation in the object space (3x3 matrix). R1 or R2 computed bystereoRectify() can be passed here. If the matrix is empty, the identity transformation is used. P – New camera matrix (3x3) or new projection matrix (3x4). P1 or P2 computed bystereoRectify() can be passed here. If the matrix is empty, the identity new camera matrix is used.

Parameters:

src – Observed point coordinates, 1xN or Nx1 2-channel (CV_32FC2 or CV_64FC2).
dst – Output ideal point coordinates after undistortion and reverse perspective transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.
cameraMatrix – Camera matrix $\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}$ .
distCoeffs – Input vector of distortion coefficients $(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]])$ of 4, 5, or 8 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
R – Rectification transformation in the object space (3x3 matrix). R1 or R2 computed bystereoRectify() can be passed here. If the matrix is empty, the identity transformation is used.
P – New camera matrix (3x3) or new projection matrix (3x4). P1 or P2 computed bystereoRectify() can be passed here. If the matrix is empty, the identity new camera matrix is used.

The function is similar to undistort() and initUndistortRectifyMap() but it operates on a sparse set of points instead of a raster image. Also the function performs a reverse transformation to projectPoints() . In case of a 3D object, it does not reconstruct its 3D coordinates, but for a planar object, it does, up to a translation vector, if the proper R is specified.

// (u,v) is the input point, (u', v') is the output point
// camera_matrix=[fx 0 cx; 0 fy cy; 0 0 1]
// P=[fx' 0 cx' tx; 0 fy' cy' ty; 0 0 1 tz]
x" = (u - cx)/fx
y" = (v - cy)/fy
(x',y') = undistort(x",y",dist_coeffs)
[X,Y,W]T = R*[x' y' 1]T
x = X/W, y = Y/W
// only performed if P=[fx' 0 cx' [tx]; 0 fy' cy' [ty]; 0 0 1 [tz]] is specified
u' = x*fx' + cx'
v' = y*fy' + cy',

where undistort() is an approximate iterative algorithm that estimates the normalized original point coordinates out of the normalized distorted point coordinates (“normalized” means that the coordinates do not depend on the camera matrix).

The function can be used for both a stereo camera head or a monocular camera (when R is empty).