函數(shù)cvProjectPoints2通過給定的內(nèi)參數(shù)和外參數(shù)計(jì)算三維點(diǎn)投影到二維圖像平面上的坐標(biāo)。?

#include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.hpp" #include "opencv2/highgui/highgui.hpp"#include <iostream> #include <string>using namespace std;vector<cv::Point3f> Generate3DPoints();int main(int argc, char* argv[]) {// Read 3D pointsvector<cv::Point3f> objectPoints = Generate3DPoints();vector<cv::Point2f> imagePoints;cv::Mat intrisicMat(3, 3, cv::DataType<float>::type); // Intrisic matrixintrisicMat.at<float>(0, 0) = 1.6415318549788924e+003;intrisicMat.at<float>(1, 0) = 0;intrisicMat.at<float>(2, 0) = 0;intrisicMat.at<float>(0, 1) = 0;intrisicMat.at<float>(1, 1) = 1.7067753507885654e+003;intrisicMat.at<float>(2, 1) = 0;intrisicMat.at<float>(0, 2) = 5.3262822453148601e+002;intrisicMat.at<float>(1, 2) = 3.8095355839052968e+002;intrisicMat.at<float>(2, 2) = 1;cv::Mat rVec(3, 1, cv::DataType<float>::type); // Rotation vectorrVec.at<float>(0) = -3.9277902400761393e-002;rVec.at<float>(1) = 3.7803824407602084e-002;rVec.at<float>(2) = 2.6445674487856268e-002;cv::Mat tVec(3, 1, cv::DataType<float>::type); // Translation vectortVec.at<float>(0) = 2.1158489381208221e+000;tVec.at<float>(1) = -7.6847683212704716e+000;tVec.at<float>(2) = 2.6169795190294256e+001;cv::Mat distCoeffs(5, 1, cv::DataType<float>::type); // Distortion vectordistCoeffs.at<float>(0) = -7.9134632415085826e-001;distCoeffs.at<float>(1) = 1.5623584435644169e+000;distCoeffs.at<float>(2) = -3.3916502741726508e-002;distCoeffs.at<float>(3) = -1.3921577146136694e-002;distCoeffs.at<float>(4) = 1.1430734623697941e-002;cout << "Intrisic matrix: " << intrisicMat << endl << endl;cout << "Rotation vector: " << rVec << endl << endl;cout << "Translation vector: " << tVec << endl << endl;cout << "Distortion coef: " << distCoeffs << endl << endl;std::vector<cv::Point2f> projectedPoints;cv::projectPoints(objectPoints, rVec, tVec, intrisicMat, distCoeffs, projectedPoints);/*for (unsigned int i = 0; i < projectedPoints.size(); ++i){cout << "Image point: " << imagePoints[i] << " Projected to " << projectedPoints[i] << endl;}*/cout << "Press any key to exit.";cin.ignore();cin.get();return 0; }vector<cv::Point3f> Generate3DPoints() {vector<cv::Point3f> points;float x, y, z;x = .5; y = .5; z = -.5;points.push_back(cv::Point3f(x, y, z));x = .5; y = .5; z = .5;points.push_back(cv::Point3f(x, y, z));x = -.5; y = .5; z = .5;points.push_back(cv::Point3f(x, y, z));x = -.5; y = .5; z = -.5;points.push_back(cv::Point3f(x, y, z));x = .5; y = -.5; z = -.5;points.push_back(cv::Point3f(x, y, z));x = -.5; y = -.5; z = -.5;points.push_back(cv::Point3f(x, y, z));x = -.5; y = -.5; z = .5;points.push_back(cv::Point3f(x, y, z));for(unsigned int i = 0; i < points.size(); ++i){ cout << points[i] << endl << endl;}return points; }

參考：http://www.itkeyword.com/doc/8898489402460001x144/opencvs-projectpoints-function

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