关于matlab双目标定出来的旋转矩阵和平移矩阵方向，以及matlab与opencv三角化测三维坐标

棋盘格格距为10mm   相机型号mv-CA013-20gc

现利用matlab双目标定工具箱标定出

 stereoParams.RotationOfCamera2参数

stereoParams.TranslationOfCamera2参数 

结合相机摆放位置，可以看到stereoParams.RotationOfCamera2实际上是,即相机2相对于相机1的旋转矩阵

stereoParams.TranslationOfCamera2为即相机1相对相机2的平移

matlab三角化算出棋盘格三维点坐标

% 提取左相机和右相机的匹配点像素坐标
imagePoints1 = [534.000977, 669.012024; 555.036255,668.459778];  % 替换为实际的左相机匹配点
imagePoints2 = [742.877014, 534.354797; 764.536194, 535.095947];  % 替换为实际的右相机匹配点

% 使用 triangulate 函数计算三维坐标
points3D = triangulate(imagePoints1, imagePoints2, stereoParams);

% 显示结果
scatter3(points3D(:,1), points3D(:,2), points3D(:,3), '.');
xlabel('X');
ylabel('Y');
zlabel('Z');
title('Reconstructed 3D Points');

运行norm(points3D(1,:)-points3D(2,:))，算出棋盘格格距10.1964mm与实际一致

opencv三角化算出棋盘格三维点坐标

#include <opencv2/opencv.hpp>
#include <opencv2/core.hpp>
#include <iostream>
using namespace std;
using namespace cv;
cv::Point2d pixel2cam(const cv::Point2f& p, const cv::Mat& K) {
    return cv::Point2d(
        (p.x - K.at<double>(0, 2)) / K.at<double>(0, 0),
        (p.y - K.at<double>(1, 2)) / K.at<double>(1, 1)
    );
}

int main() {
    // 定义左右相机的相机矩阵
    
    cv::Mat T1 = (cv::Mat_<float>(3, 4) <<
        1, 0, 0, 0,
        0, 1, 0, 0,
        0, 0, 1, 0);
    /*cv::Mat T2 = (cv::Mat_<float>(3, 4) <<
        0.953637062614699, 0.00658496811859602, -0.300887007035011, 4.458319257471509e+02,
        -0.00250704140519836, 0.999899730598709, 0.0139371263904078, 11.501725596171031,
        0.300948612807905, -0.0125366240873153, 0.953557950785106, 65.623152047724048);*/
        //cv::triangulatePoints(T2, T1, pts1, pts2, points4D);//for 2
        //cv::triangulatePoints(T1, T2, pts2, pts1, points4D);//for 2
        //cv::triangulatePoints(T2, T1, pts2, pts1, points4D);//啥也不是
        //cv::triangulatePoints(T1, T2, pts1, pts2, points4D);//啥也不是
    cv::Mat T2 = (cv::Mat_<float>(3, 4) <<
        0.953637062614699, -0.00250704140519836, 0.300948612807905, -444.882209363911,
        0.00658496811859602, 0.999899730598709, -0.0125366240873153, -13.6136685536819,
        -0.300887007035011, 0.0139371263904078, 0.953557950785106, 71.4092543846866);
    cv::Mat K1 = (cv::Mat_<double>(3, 3) <<
        3638.91841273777, 0, 605.061877450677,
        0, 3646.16879065885, 528.394303538593,
        0, 0, 1);
    cv::Mat K2 = (cv::Mat_<double>(3, 3) <<
        3624.20398341909, 0, 667.453224169270,
        0, 3626.03671391354, 469.395650206574,
        0, 0, 1);


    // 读取图像
    cv::Mat image1 = cv::imread("E:/BaiduNetdiskDownload/毕设/test/l/Image_2429.bmp");
    cv::Mat image2 = cv::imread("E:/BaiduNetdiskDownload/毕设/test/r/Image_2692.bmp");

    // 检查图像是否成功加载
    if (image1.empty()|| image2.empty()) {
        std::cerr << "无法加载图像文件！" << std::endl;
        return -1;
    }

    // 定义棋盘格内角点的行数和列数
    int chessboardRows = 8; // 棋盘格行数
    int chessboardCols = 11; // 棋盘格列数

    // 用于存储检测到的角点
    std::vector<cv::Point2f> corners1, corners2;
    std::vector<cv::Point2d> pts1, pts2;
    // 尝试在图像中检测棋盘格角点
    bool patternFound1 = cv::findChessboardCorners(image1, cv::Size(chessboardCols, chessboardRows), corners1);
    bool patternFound2 = cv::findChessboardCorners(image2, cv::Size(chessboardCols, chessboardRows), corners2);
    for (int i = 0; i < corners1.size(); i++)
    {
        // 调用函数将像素坐标系下的点转换为相机坐标系下的点
        pts1.push_back(pixel2cam(corners1[i], K1));
        pts2.push_back(pixel2cam(corners2[i], K2));
    }
    //-- 计算基础矩阵
    Mat fundamental_matrix;
    fundamental_matrix = findFundamentalMat(corners1, corners2, FM_RANSAC);
    // 如果找到棋盘格角点
    if (patternFound1&& patternFound2) {
        // 在图像中绘制检测到的角点
        cv::drawChessboardCorners(image1, cv::Size(chessboardCols, chessboardRows), corners1, patternFound1);
        cv::drawChessboardCorners(image2, cv::Size(chessboardCols, chessboardRows), corners2, patternFound2);

        /*
        std::vector<cv::Point2f> p1;
        p1.push_back(pixel2cam(corners1[1], K1));
        std::vector<cv::Point2f> p2;
        p2.push_back(pixel2cam(corners2[1], K2));
        */
        // 通过三角测量计算三维点坐标
        cv::Mat points4D1;
        cv::triangulatePoints(T1, T2, pts1, pts2, points4D1);//T2 == T21 服了

        //cv::triangulatePoints(T2, T1, pts1, pts2, points4D);//for 2
        // 将齐次坐标转换为非齐次坐标
        cv::Mat points3D1;
        cv::convertPointsFromHomogeneous(points4D1.t(), points3D1);


        // 显示带有角点的图像
        cv::imshow("Detected Corners1", image1);
        cv::imshow("Detected Corners2", image2);
        cv::waitKey(0);
        
    }
    else {
        std::cerr << "未能检测到棋盘格角点！" << std::endl;
    }

    return 0;
}

matlab运行结果

opencv运行结果

保持一致