opencv鱼眼相机模型详解

最新推荐文章于 2024-01-10 14:41:23 发布

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最新推荐文章于 2024-01-10 14:41:23 发布

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分类专栏： SLAM 文章标签： opencv鱼眼相机模型

本文链接：https://blog.csdn.net/ktigerhero3/article/details/88352662

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问题：
对应相机坐标系的一点P,我们如何通过鱼眼相机的4个畸变系数找到这个点在像素平面上的正确位置？
步骤如下：

1.将世界坐标系的三维坐标点投影摄像头坐标系

设P为世界坐标系中的三维点为 $X$ ，摄像机坐标系中P的坐标为 $X c (x, y, z)$ :
$X c = R X + t$
通过外参数的旋转和平移转换。

2.摄像头坐标系点转换到归一化图像平面

将点转换为归一化平面为（a,b）
$\ and \ b = y / z$

3.对归一化平面的点进行畸变纠正

给定归一化坐标，可以求出畸变纠正后的坐标 $(x^{'}, y^{'})$
$r^2 = a^2 + b^2 \\ \theta = atan(r)\\\theta_d = \theta (1 + k_1 \theta^2 + k_2 \theta^4 + k_3 \theta^6 + k_4 \theta^8)\\x' = (\theta_d / r) a \\ y' = (\theta_d / r) b$

4.转换到图像平面上

最后得到图像平面上的点 $（ u, v ）$
$f_x (x' + \alpha y') + c_x \\ v = f_y y' + c_y$

5实现代码

实现代码如下:
opencv_project_points 为opencv 实现函数 void cv::fisheye::projectPoints();
void fish_project_point(Point3d pt3d,Mat R,Mat t,Mat K,Mat coff,Point2d& pt2d)为我根据以上公式实现的

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>
#include<time.h>
 #include <unistd.h>
#include<iostream>
#include<eigen3/Eigen/Core>
#include<eigen3/Eigen/Geometry>
#include <opencv2/opencv.hpp>
#include<opencv2/calib3d.hpp>
#include <tf/transform_broadcaster.h>
using namespace cv;
using namespace std;
using namespace Eigen;


void opencv_project_points(InputArray objectPoints, OutputArray imagePoints, InputArray _rvec,
        InputArray _tvec, InputArray _K, InputArray _D, double alpha)
{
    // will support only 3-channel data now for points
    CV_Assert(objectPoints.type() == CV_32FC3 || objectPoints.type() == CV_64FC3);
    imagePoints.create(objectPoints.size(), CV_MAKETYPE(objectPoints.depth(), 2));
    size_t n = objectPoints.total();

    CV_Assert(_rvec.total() * _rvec.channels() == 3 && (_rvec.depth() == CV_32F || _rvec.depth() == CV_64F));
    CV_Assert(_tvec.total() * _tvec.channels() == 3 && (_tvec.depth() == CV_32F || _tvec.depth() == CV_64F));
    CV_Assert(_tvec.getMat().isContinuous() && _rvec.getMat().isContinuous());

    Vec3d om = _rvec.depth() == CV_32F ? (Vec3d)*_rvec.getMat().ptr<Vec3f>() : *_rvec.getMat().ptr<Vec3d>();
    Vec3d T  = _tvec.depth() == CV_32F ? (Vec3d)*_tvec.getMat().ptr<Vec3f>() : *_tvec.getMat().ptr<Vec3d>();

    CV_Assert(_K.size() == Size(3,3) && (_K.type() == CV_32F || _K.type() == CV_64F) && _D.type() == _K.type() && _D.total() == 4);

    cv::Vec2d f, c;
    if (_K.depth() == CV_32F)
    {

        Matx33f K = _K.getMat();
        f = Vec2f(K(0, 0), K(1, 1));
        c = Vec2f(K(0, 2), K(1, 2));
    }
    else
    {
        Matx33d K = _K.getMat();
        f = Vec2d(K(0, 0), K(1, 1));
        c = Vec2d(K(0, 2), K(1, 2));
    }

    Vec4d k = _D.depth() == CV_32F ? (Vec4d)*_D.getMat().ptr<Vec4f>(): *_D.getMat().ptr<Vec4d>();


    Matx33d R;
    Matx<double, 3, 9> dRdom;
    Rodrigues(om, R, dRdom);
    cv::Affine3d aff(om, T);

    const Vec3f* Xf = objectPoints.getMat().ptr<Vec3f>();
    const Vec3d* Xd = objectPoints.getMat().ptr<Vec3d>();
    Vec2f *xpf = imagePoints.getMat().ptr<Vec2f>();
    Vec2d *xpd = imagePoints.getMat().ptr<Vec2d>();

    for(size_t i = 0; i < n; ++i)
    {
        Vec3d Xi = objectPoints.depth() == CV_32F ? (Vec3d)Xf[i] : Xd[i];
        Vec3d Y = aff*Xi;

        Vec2d x(Y[0]/Y[2], Y[1]/Y[2]);
         cout<<"a="<<x(0)<<"b="<<x(1)<<endl;
        double r2 = x.dot(x);
        double r = std::sqrt(r2);

        cout<<"r"<<r<<endl;
        // Angle of the incoming ray:
        double theta = atan(r);

        double theta2 = theta*theta, theta3 = theta2*theta, theta4 = theta2*theta2, theta5 = theta4*theta,
                theta6 = theta3*theta3, theta7 = theta6*theta, theta8 = theta4*theta4, theta9 = theta8*theta;

        double theta_d = theta + k[0]*theta3 + k[1]*theta5 + k[2]*theta7 + k[3]*theta9;

        double inv_r = r > 1e-8 ? 1.0/r : 1;
        double cdist = r > 1e-8 ? theta_d * inv_r : 1;

        Vec2d xd1 = x * cdist;
        Vec2d xd3(xd1[0] + alpha*xd1[1], xd1[1]);
        Vec2d final_point(xd3[0] * f[0] + c[0], xd3[1] * f[1] + c[1]);

        if (objectPoints.depth() == CV_32F)
            xpf[i] = final_point;
        else
            xpd[i] = final_point;

    }
}


void fish_project_point(Point3d pt3d,Mat R,Mat t,Mat K,Mat coff,Point2d& pt2d)
{
    //1. Transform into Camera Coords.
    Vec3d p3Dw (pt3d);
    cv::Affine3d aff(R, t);
    //cv::Mat p3Dc = R*p3Dw+t;
    Vec3d p3Dc = aff*p3Dw;
    cout<<"p3Dc"<<p3Dc<<endl;
    // 2.Project into norm plan
    double invz = 1/p3Dc(2);
    double a = p3Dc(0)*invz;
    double b = p3Dc(1)*invz;
    //cv::Mat p3Dw (pt3d);
      //cv::Mat p3Dc = R*p3Dw+t;
//    const double invz = 1/p3Dc.at<double>(2);
//    const double a = p3Dc.at<double>(0)*invz;
//    const double b = p3Dc.at<double>(1)*invz;
    cout<<"project norm plan x="<<a<<"y="<<b<<endl;

    //3.undistort a b
    const double k1=coff.at<double>(0,0);
    const double k2=coff.at<double>(0,1);
    const double k3=coff.at<double>(0,2);
    const double k4=coff.at<double>(0,3);

    //cout<<"k1"<<k1<<" "<<k2<<" "<<k3<<" "<<k4<<endl;
    double r2=a*a+b*b;
    double r=std::sqrt(r2);
      cout<<"r"<<r<<endl;
    double theta = atan(r);

    double theta2 = theta*theta, theta3 = theta2*theta, theta4 = theta2*theta2, theta5 = theta4*theta,
            theta6 = theta3*theta3, theta7 = theta6*theta, theta8 = theta4*theta4, theta9 = theta8*theta;

    double theta_d = theta + k1*theta3 + k2*theta5 + k3*theta7 + k4*theta9;

    double inv_r = r > 1e-8 ? 1.0/r : 1;
    double cdist = r > 1e-8 ? theta_d * inv_r : 1;

    double xd=a*cdist;
    double yd=b*cdist;
//    double xd=theta_d*a*inv_r;
//    double yd=theta_d*b*inv_r;
     double fx=K.at<double>(0,0);
     double fy=K.at<double>(1,1);
     double cx=K.at<double>(0,2);
     double cy=K.at<double>(1,2);
    //cout<<"fx"<<fx<<" "<<fy<<" "<<cx<<" "<<cy<<endl;
    double u = fx*xd+cx;
    double v = fy*yd+cy;
    pt2d.x=u;
    pt2d.y=v;
    return ;
}

int main( int argc, char** argv )
{
  ros::init(argc, argv, "projecttest");
   double len=4;
  //1.1 get para intrinsic
  double f = 200, w = 1000, h = 1000;
  cv::Mat K = (Mat_<double>(3, 3) <<
               f, 0, w/2,
               0, f, h/2,
               0, 0, 1);
  cv::Mat coff=(Mat_<double>(1,4) <<0.02,0.1,0.0001,0.0001);
  //1.2 get para extrinsic
  Mat cv_R12=(cv::Mat_<double>(3, 3) <<
                   0,0,1,
                   -1,0,0,
                   0,-1,0);
  cv::Mat cv_t12 = (cv::Mat_<double>(3, 1) << 0,0,len/2);
  Eigen::Matrix3d e_R12;
  e_R12<<0,0,1,
          -1,0,0,
          0,-1,0;

  //t
  Eigen::Vector3d e_t12={0,0,len/2};

  Mat cv_R21=cv_R12.inv();
  Mat cv_t21=-cv_R12.inv()*cv_t12;
  cout<<"cv_t21"<<cv_t21<<endl;
  Eigen::Matrix3d e_R21=e_R12.inverse();
  Eigen::Vector3d e_t21=-e_R12.inverse()*e_t12;
  cout<<"e_t21"<<e_t21<<endl;


//  //x>0 ABCD EFGH
  Point3d cube_center={len,0,len/2};
  Point3d A={cube_center.x-len/2,cube_center.y+len/2,cube_center.z-len/2};
  Point3d B={cube_center.x-len/2,cube_center.y-len/2,cube_center.z-len/2};

  Point3d C={cube_center.x+len/2,cube_center.y-len/2,cube_center.z-len/2};
  Point3d D={cube_center.x+len/2,cube_center.y+len/2,cube_center.z-len/2};


  cout<<"ABCD"<<A<< B<<C<<D<<endl;
  vector<Point3d> vp3d;
  vp3d.push_back(A);
  vp3d.push_back(B);
  vp3d.push_back(C);
  vp3d.push_back(D);

  //3.get binImage
  vector<Point2d> vpt2d;
  vector<Point2d> fishPrj2d;
  cv::Mat rvec21;
  Rodrigues(cv_R21,rvec21);

  cout<<"rvec21"<<rvec21<<endl;
  //opencv implement
  fisheye::projectPoints(vp3d,vpt2d,rvec21,cv_t21,K,coff);
    //opencv_project_points(vp3d,vpt2d, rvec21,cv_t21,K,coff,0);
  //my implement
  for(size_t i=0;i<vp3d.size();i++)
  {
      Point3d p3d=vp3d[i];
      Point2d p2d;
      fish_project_point(p3d,cv_R21,cv_t21,K,coff,p2d);
      fishPrj2d.push_back(p2d);
  }

  for(int i=0;i<vpt2d.size();i++)
  {
      cout<<"prj x="<<vpt2d[i].x<<" y="<<vpt2d[i].y<<endl;
      cout<<"my prj x="<<fishPrj2d[i].x<<" y="<<fishPrj2d[i].y<<endl;
  }

  return 0;
}

参考文献
https://docs.opencv.org/3.4/db/d58/group__calib3d__fisheye.html