先上代码
# -*- coding: utf-8 -*-
# 测试使用opencv中的函数solvepnp
import cv2
import numpy as np
tag_size = 0.05
tag_size_half = 0.025
fx = 610.32366943
fy = 610.5026245
cx = 313.3859558
cy = 237.2507269
K = np.array([[fx, 0, cx],
[0, fy, cy],
[0, 0, 1]], dtype=np.float64)
objPoints = np.array([[-tag_size_half, -tag_size_half, 0],
[tag_size_half, -tag_size_half, 0],
[tag_size_half, tag_size_half, 0],
[-tag_size_half, tag_size_half, 0]], dtype=np.float64)
imgPoints = np.array([[608, 167], [514, 167], [518, 69], [611, 71]], dtype=np.float64)
cameraMatrix = K
distCoeffs = None
retval,rvec,tvec = cv2.solvePnP(objPoints, imgPoints, cameraMatrix, distCoeffs)
# cv2.Rodrigues()
print retval, rvec, tvec
碰到过的问题:
OpenCV Error: Assertion failed (( (npoints >= 4) || (npoints == 3 &a