共有四種坐標(biāo)系

世界坐標(biāo)系——>相機(jī)坐標(biāo)系

[Xc,Yc,Zc]T表示相機(jī)坐標(biāo)，[Xw,Yw,Zw，1]T表示歸物體所在的世界坐標(biāo)。R表示旋轉(zhuǎn)矩陣，T表示平移矩陣。

相機(jī)坐標(biāo)系——>圖像坐標(biāo)系

圖像坐標(biāo)系——>像素坐標(biāo)系

通過(guò)相機(jī)標(biāo)定，我們可以獲取相機(jī)的內(nèi)參數(shù)和外參數(shù)矩陣
內(nèi)參數(shù)矩陣：
https://www.cnblogs.com/wangguchangqing/p/8126333.html

其中Fx=fdx，Fy=fdy，u0=cx，v0=cy。

綜合上述，則總公式如下：

轉(zhuǎn)換代碼

/***************************************************************************************** 1、激光雷達(dá)映射圖像 *****************************************************************************************/ #include<opencv2/opencv.hpp> #include <iostream> #include <fstream> #include <stdlib.h> //srand()和rand()函數(shù) #include <time.h> //time()函數(shù) #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <opencv2/objdetect/objdetect.hpp> #include <opencv2/ml/ml.hpp> #include<opencv2\opencv.hpp> #include <opencv2\imgproc\types_c.h> #include<windows.h> using namespace std; using namespace cv; using namespace ml;//double R[] = //{ //-0.000946327557628447 , 0.00924509852185524, 0.999956815376281, //-0.999910170350762 , 0.0133606413543068, -0.00106980919429913, //-0.0133699548714382 , -0.999868001996225, 0.00923162449479668 //};double R[] = {-0.000946327557628447 , -0.999910170350762, -0.0133699548714382,0.00924509852185524 , 0.0133606413543068, -0.999868001996225,0.999956815376281 , -0.00106980919429913, 0.00923162449479668 };double T[] = {0.106387638682809, - 0.0655453193303612, - 0.0423556338963880 };int main() {//double Xw = 0;//double Yw = 0;//double Zw = 0;double Xw = 1.16;double Yw = 1.18;double Zw = 0.253;double Xw1 = 1.52;double Yw1 = 0.274;double Zw1 = -0.433;double Xw2 = 1.51;double Yw2 = 0.274;double Zw2 = -0.346;/*8月20日*/double Xw3 = 5.12;double Yw3 = 1.94;double Zw3 = 1.26;double Xw4 = 5.62;double Yw4 = 1.3;double Zw4 = 1.32;double Xc = 0;double Yc = 0;double Zc = 0;double Xc1 = 0;double Yc1 = 0;double Zc1 = 0;double Xc2 = 0;double Yc2 = 0;double Zc2 = 0;double Xc3 = 0;double Yc3 = 0;double Zc3 = 0;double Xc4 = 0;double Yc4 = 0;double Zc4 = 0;double Fx = 901.542952546068;double Fy = 899.822262198022 ;double Cx = 1014.57219246244;double Cy = 431.675147682217;double u = 0;double v = 0;double u1 = 0;double v1 = 0; double u2 = 0;double v2 = 0;printf("R[0]=%f R[1]=%f R[2]=%f \n R[3]=%f R[4]=%f R[5]=%f \n R[6]=%f R[7]=%f R[8]=%f\n", R[0], R[1], R[2],R[3],R[4],R[5], R[6], R[7], R[8]);//1、世界坐標(biāo)系——>相機(jī)坐標(biāo)系Xc = Xw*R[0] + Yw*R[1] + Zw*R[2] + T[0];Yc = Xw*R[3] + Yw*R[4] + Zw*R[5] + T[1];Zc = Xw*R[6] + Yw*R[7] + Zw*R[8] + T[2];Xc1 = Xw1*R[0] + Yw1*R[1] + Zw1*R[2] + T[0];Yc1 = Xw1*R[3] + Yw1*R[4] + Zw1*R[5] + T[1];Zc1 = Xw1*R[6] + Yw1*R[7] + Zw1*R[8] + T[2];Xc2 = Xw2*R[0] + Yw2*R[1] + Zw2*R[2] + T[0];Yc2= Xw2*R[3] + Yw2*R[4] + Zw2*R[5] + T[1];Zc2 = Xw2*R[6] + Yw2*R[7] + Zw2*R[8] + T[2];Xc3 = Xw3*R[0] + Yw3*R[1] + Zw3*R[2] + T[0];Yc3 = Xw3*R[3] + Yw3*R[4] + Zw3*R[5] + T[1];Zc3 = Xw3*R[6] + Yw3*R[7] + Zw3*R[8] + T[2];Xc4 = Xw4*R[0] + Yw4*R[1] + Zw4*R[2] + T[0];Yc4 = Xw4*R[3] + Yw4*R[4] + Zw4*R[5] + T[1];Zc4 = Xw4*R[6] + Yw4*R[7] + Zw4*R[8] + T[2];//2、相機(jī)坐標(biāo)系——>圖像坐標(biāo)系——>像素坐標(biāo)系u = Fx*Xc / Zc + Cx;v= Fy*Yc / Zc + Cy;printf("u=%f\n", u);printf("v=%f\n", v);u1 = Fx*Xc1 / Zc1 + Cx;v1 = Fy*Yc1 / Zc1 + Cy;printf("u1=%f\n", u1);printf("v1=%f\n", v1);u2 = Fx*Xc2 / Zc2 + Cx;v2 = Fy*Yc2 / Zc2 + Cy;printf("u2=%f\n", u2);printf("v2=%f\n", v2);double u3 = Fx*Xc3 / Zc3 + Cx;double v3 = Fy*Yc3 / Zc3 + Cy;printf("u2=%f\n", u2);printf("v2=%f\n", v2);double u4 = Fx*Xc4 / Zc4 + Cx;double v4 = Fy*Yc4 / Zc4 + Cy;printf("u4=%f\n", u4);printf("v4=%f\n", v4);Mat srcImage0 = imread("2.png");//讀取圖片 resize(srcImage0, srcImage0, Size(1920,1080), 0, 0, INTER_LINEAR);if (srcImage0.empty()){printf("[ALG ERROR][函數(shù):%s][行號(hào):%d],圖片未正常讀取，請(qǐng)檢查輸入路徑十分正確 \n", __FUNCTION__, __LINE__, 1);}//circle(srcImage0, Point(u,v), 10, Scalar(0, 255, 0), -1); //circle(srcImage0, Point(u1, v1), 10, Scalar(0, 255, 0), -1); //circle(srcImage0, Point(u2, v2), 10, Scalar(0, 255, 0), -1); circle(srcImage0, Point(u3, v3), 10, Scalar(0, 0, 255), -1); circle(srcImage0, Point(u4, v4), 10, Scalar(0, 0, 255), -1);namedWindow("srcImage0", 0);imshow("srcImage0", srcImage0);waitKey(200);return 0; }

相關(guān)轉(zhuǎn)換代碼

https://blog.csdn.net/guyuealian/article/details/104184551

參考：
https://blog.csdn.net/weizhangyjs/article/details/81020177
https://blog.csdn.net/baidu_38172402/article/details/81949447
https://www.cnblogs.com/wangguchangqing/p/8126333.html
https://blog.csdn.net/yangdashi888/article/details/51356385

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