c++/opencv利用相机位姿估计实现2D图像像素坐标到3D世界坐标的转换

最近在做自动泊车项目中的车位线检测，用到了将图像像素坐标转换为真实世界坐标的过程，该过程可以通过世界坐标到图像像素坐标之间的关系进行求解，在我的一篇博文中已经详细讲解了它们之间的数学关系，不清楚的童鞋们可参考:相机标定：从世界坐标系到图像像素坐标系转换过程解析
推导过程如下：

一般情况下，摄像头的内参是我们事先标定好的，具体标定方法可以参考这篇博文：张正友相机标定Opencv实现以及标定流程&&标定结果评价&&图像矫正流程解析（附标定程序和棋盘图）
其次，用到了相机位姿估计中求解PNP的问题，相机位姿估计就是通过几个已知坐标的特征点，以及他们在相机照片中的成像，从而得到相机坐标系关于世界坐标系的旋转矩阵R与平移矩阵T，可以直接调用opencv::solvePnP函数求解，详细讲解可以参考这篇博文：相机位姿估计
具体标定方法如下：
1.以车身中心投影到地面的位置为世界坐标系的原点，垂直于地面朝上为z轴正向，车头方向为x轴的正向，y轴方向满足右手法则。
2.车位线识别中只用到了右侧摄像头，在水平地面上放置标定板，不要共线，记录出标定板的世界坐标（至少需要4个点）以及在图像中的像素坐标。

3.调用opencv::solvePnP求解相机坐标系关于世界坐标系的旋转矩阵R与平移矩阵T。
4.根据上面公式的推倒求解出图像中车位线在世界坐标中的真实位置。
下面是实现该过程的c++/opencv的代码：

#include <opencv2/opencv.hpp>
#include <iostream>
#include <ctype.h>
using namespace cv;
using namespace std;
int main()
{
   // 首先通过标定板的图像像素坐标以及对应的世界坐标，通过PnP求解相机的R&T//
    Point2f point;
    vector<Point2f> boxPoints; //存入像素坐标
    // Loading image
    Mat sourceImage = imread("2.bmp");
    namedWindow("Source", 1);
    / Setting box corners in image
    //one Point
    point = Point2f((float) 558, (float) 259); //640X480
    boxPoints.push_back(point);
    circle(sourceImage, boxPoints[0], 3, Scalar(0, 255, 0), -1, 8);

    two Point
    point = Point2f((float) 629, (float) 212); //640X480
    boxPoints.push_back(point);
    circle(sourceImage, boxPoints[1], 3, Scalar(0, 255, 0), -1, 8);

    three Point
    point = Point2f((float) 744, (float) 260); //640X480
    boxPoints.push_back(point);
    circle(sourceImage, boxPoints[2], 3, Scalar(0, 255, 0), -1, 8);

    four Point
    point = Point2f((float) 693, (float) 209); //640X480
    boxPoints.push_back(point);
    circle(sourceImage, boxPoints[3], 3, Scalar(0, 255, 0), -1, 8);
    
    //Setting box corners in real world
    vector<Point3f> worldBoxPoints;  //存入世界坐标
    Point3f tmpPoint;
    tmpPoint = Point3f((float) 2750, (float) 890, (float) 0);
    worldBoxPoints.push_back(tmpPoint);
    tmpPoint = Point3f((float) 3500, (float) 450, (float) 0);
    worldBoxPoints.push_back(tmpPoint);
    tmpPoint = Point3f((float) 2790, (float) -240, (float) 0);
    worldBoxPoints.push_back(tmpPoint);
    tmpPoint = Point3f((float) 3620, (float) -50, (float) 0);
    worldBoxPoints.push_back(tmpPoint);
    //camera  intristic///
    cv::Mat cameraMatrix1=Mat::eye(3, 3, cv::DataType<double>::type);  //相机内参矩阵
    cv::Mat distCoeffs1(5, 1, cv::DataType<double>::type);  //畸变参数
    distCoeffs1.at<double>(0,0) = 0.061439051;
    distCoeffs1.at<double>(1,0) = 0.03187556;
    distCoeffs1.at<double>(2,0) = -0.00726151;
    distCoeffs1.at<double>(3,0) = -0.00111799;
    distCoeffs1.at<double>(4,0) = -0.00678974;

    //Taken from Mastring OpenCV d
    double fx = 328.61652824;
    double fy = 328.56512516;
    double cx = 629.80551148;
    double cy = 340.5442837;
    cameraMatrix1.at<double>(0, 0) = fx;
    cameraMatrix1.at<double>(1, 1) = fy;
    cameraMatrix1.at<double>(0, 2) = cx;
    cameraMatrix1.at<double>(1, 2) = cy;
    
   //PnP solve R&T///
    cv::Mat rvec1(3, 1, cv::DataType<double>::type);  //旋转向量
    cv::Mat tvec1(3, 1, cv::DataType<double>::type);  //平移向量
    cv::solvePnP(worldBoxPoints, boxPoints, cameraMatrix1, distCoeffs1, rvec1, tvec1, false,CV_ITERATIVE);
    cv::Mat rvecM1(3, 3, cv::DataType<double>::type);  //旋转矩阵
    cv::Rodrigues(rvec1, rvecM1);

   /此处用于求相机位于坐标系内的旋转角度,2D-3D的转换并不用求
    const double PI=3.1415926;
    double thetaZ=atan2(rvecM1.at<double>(1,0),rvecM1.at<double>(0,0))/PI*180;
    double thetaY=atan2(-1*rvecM1.at<double>(2,0),sqrt(rvecM1.at<double>(2,1)*rvecM1.at<double>(2,1)
            +rvecM1.at<double>(2,2)*rvecM1.at<double>(2,2)))/PI*180;
    double thetaX=atan2(rvecM1.at<double>(2,1),rvecM1.at<double>(2,2))/PI*180;
    cout<<"theta x  "<<thetaX<<endl<<"theta Y: "<<thetaY<<endl<<"theta Z: "<<thetaZ<<endl;

    ///根据公式求Zc，即s
    cv::Mat imagePoint = cv::Mat::ones(3, 1, cv::DataType<double>::type); 
    cv::Mat tempMat, tempMat2;
    //输入一个2D坐标点，便可以求出相应的s
    imagePoint.at<double>(0,0)=558;
    imagePoint.at<double>(1,0)=259;
    double zConst = 0;//实际坐标系的距离
    //计算参数s
    double s;
    tempMat = rvecM1.inv() * cameraMatrix1.inv() * imagePoint;
    tempMat2 = rvecM1.inv() * tvec1;
    s = zConst + tempMat2.at<double>(2, 0);
    s /= tempMat.at<double>(2, 0);
    cout<<"s : "<<s<<endl;
    ///3D to 2D
    cv::Mat worldPoints=Mat::ones(4,1,cv::DataType<double>::type);
    worldPoints.at<double>(0,0)=3620;
    worldPoints.at<double>(1,0)=-590;
    worldPoints.at<double>(2,0)=0;
    cout<<"world Points :  "<<worldPoints<<endl;
    Mat image_points=Mat::ones(3,1,cv::DataType<double>::type);
    //setIdentity(image_points);
    Mat RT_;
    hconcat(rvecM1,tvec1,RT_);
    cout<<"RT_"<<RT_<<endl;
    image_points=cameraMatrix1*RT_*worldPoints;
    Mat D_Points=Mat::ones(3,1,cv::DataType<double>::type);
    D_Points.at<double>(0,0)=image_points.at<double>(0,0)/image_points.at<double>(2,0);
    D_Points.at<double>(1,0)=image_points.at<double>(1,0)/image_points.at<double>(2,0);
    //cv::projectPoints(worldPoints, rvec1, tvec1, cameraMatrix1, distCoeffs1, imagePoints);
    cout<<"3D to 2D:   "<<D_Points<<endl;

    //camera_coordinates
    Mat camera_cordinates=-rvecM1.inv()*tvec1;
    /2D to 3D///
    cv::Mat imagePoint_your_know = cv::Mat::ones(3, 1, cv::DataType<double>::type); //u,v,1
    imagePoint_your_know.at<double>(0, 0) = 558;
    imagePoint_your_know.at<double>(1, 0) = 259;
    Mat wcPoint = rvecM1.inv() * (cameraMatrix1.inv() *s*imagePoint_your_know - tvec1);
    Point3f worldPoint(wcPoint.at<double>(0, 0), wcPoint.at<double>(1, 0), wcPoint.at<double>(2, 0));
    cout <<"2D to 3D :"<< worldPoint << endl;
    imshow("Source",sourceImage);
    waitKey(0);
    return 0;
}

求出各种参数以后可以将其封装为一个函数，实现图像坐标到世界坐标的转换：

Point3f getWorldPoints(Point2f inPoints)
{
	cv::Mat imagePoint = cv::Mat::ones(3, 1, cv::DataType<double>::type); //u,v,1
	imagePoint.at<double>(0, 0) = inPoints.x;
	imagePoint.at<double>(1, 0) = inPoints.y;
	Mat wcPoint = rotationMatrix.inv() * (s * cameraMatrix.inv() * imagePoint - tvec);
	Point3f worldPoint(wcPoint.at<double>(0, 0), wcPoint.at<double>(1, 0), wcPoint.at<double>(2, 0));
	return worldPoint;
}