Daviddoria: Created page with 'Projected points are incorrect? ==EstimateP.cxx== #include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.h…'

2011-07-28T19:34:20Z

Created page with 'Projected points are incorrect? ==EstimateP.cxx== <source lang="cpp"> #include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.h…'

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Projected points are incorrect?

==EstimateP.cxx==
<source lang="cpp">
#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"

#include <iostream>
#include <string>

std::vector<cv::Point2f> Generate2DPoints();
std::vector<cv::Point3f> Generate3DPoints();

int main( int argc, char* argv[])
{
// Read points
std::vector<cv::Point2f> imagePoints = Generate2DPoints();
std::vector<cv::Point3f> objectPoints = Generate3DPoints();

std::cout << "There are " << imagePoints.size() << " imagePoints and " << objectPoints.size() << " objectPoints." << std::endl;
cv::Mat cameraMatrix(3,3,cv::DataType<double>::type);
cv::setIdentity(cameraMatrix);

std::cout << "Initial cameraMatrix: " << cameraMatrix << std::endl;

cv::Mat distCoeffs(4,1,cv::DataType<double>::type);
distCoeffs.at<double>(0) = 0;
distCoeffs.at<double>(1) = 0;
distCoeffs.at<double>(2) = 0;
distCoeffs.at<double>(3) = 0;

cv::Mat rvec(3,1,cv::DataType<double>::type);
cv::Mat tvec(3,1,cv::DataType<double>::type);

cv::solvePnP(objectPoints, imagePoints, cameraMatrix, distCoeffs, rvec, tvec);

std::cout << "rvec: " << rvec << std::endl;
std::cout << "tvec: " << tvec << std::endl;

std::vector<cv::Point2f> projectedPoints;
cv::projectPoints(objectPoints, rvec, tvec, cameraMatrix, distCoeffs, projectedPoints);

for(unsigned int i = 0; i < projectedPoints.size(); ++i)
{
std::cout << "Image point: " << imagePoints[i] << " Projected to " << projectedPoints[i] << std::endl;
}

return 0;
}

std::vector<cv::Point2f> Generate2DPoints()
{
std::vector<cv::Point2f> points;

float x,y;

x=282;y=274;
points.push_back(cv::Point2f(x,y));

x=397;y=227;
points.push_back(cv::Point2f(x,y));

x=577;y=271;
points.push_back(cv::Point2f(x,y));

x=462;y=318;
points.push_back(cv::Point2f(x,y));

x=270;y=479;
points.push_back(cv::Point2f(x,y));

x=450;y=523;
points.push_back(cv::Point2f(x,y));

x=566;y=475;
points.push_back(cv::Point2f(x,y));

for(unsigned int i = 0; i < points.size(); ++i)
{
std::cout << points[i] << std::endl;
}

return points;
}

std::vector<cv::Point3f> Generate3DPoints()
{
std::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)
{
std::cout << points[i] << std::endl;
}

return points;
}
</source>

==CMakeLists.txt==
<source lang="cmake">
cmake_minimum_required(VERSION 2.6)

PROJECT(ComputeP)

FIND_PACKAGE(OpenCV REQUIRED )
INCLUDE_DIRECTORIES( ${OPENCV_INCLUDE_DIR} )

ADD_EXECUTABLE(ComputeP ComputeP.cxx)
TARGET_LINK_LIBRARIES(ComputeP opencv_core opencv_highgui
opencv_flann opencv_imgproc opencv_highgui opencv_ml opencv_video opencv_objdetect
opencv_features2d opencv_calib3d opencv_legacy opencv_contrib
)
</source>

OpenCV/WishList/3D/EstimateP - Revision history

Daviddoria: Created page with 'Projected points are incorrect? ==EstimateP.cxx== #include "opencv2/core/core.hpp" #include "opencv2/imgproc/imgproc.hpp" #include "opencv2/calib3d/calib3d.h…'