使用OpenCV将 Cloud 数据转换为2d图像

1 回答

• 1

  问题不是很清楚 . "convert"点 Cloud 到2d图像是什么意思？
  我会假设"convert"你的意思是项目 .
  在opencv中，使用 projectpoints ：http://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#projectpoints，可以将点 Cloud 或任何3d点用于_210641_到2d图像上 .

  这是基于针孔相机型号，看看这里举例如下：http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/FUSIELLO4/tutorial.html

  你也可以看一下这个问题：OpenCV's projectPoints function

  请记住，您将无法重建原始的3D数据（因为在投影过程中丢失了深度信息）

  为了简化操作，我们可以使用具有任意焦距的“完美”投影模型（无相机镜头失真）（如果您希望显示图像，则需要根据您的数据使用焦距进行游戏，以便投影点的值不是太高，例如不高于2048，这是2k分辨率图像的宽度） .

  这是一个例子：

  #include <string>
  #include "opencv2/opencv.hpp"
  using namespace cv;
  using namespace std;
  
  
  std::vector<cv::Point3d> Generate3DPoints();
  
  int main(int argc, char* argv[])
  {
      // Read 3D points
      std::vector<cv::Point3d> objectPoints = Generate3DPoints();
      std::vector<cv::Point2d> imagePoints;
  
      int f = 5;  //focal length
  
      for (unsigned int i = 0; i < objectPoints.size(); i++)
      {
          cv::Point3d orig_point = objectPoints[i];
          imagePoints.push_back(cv::Point2d(
              f*orig_point.x / orig_point.z,  //x' = f*x/z
              f*orig_point.y / orig_point.z)  //y' = f*y/z
              );
      }
  }
  
  std::vector<cv::Point3d> Generate3DPoints()
  {
      std::vector<cv::Point3d> points;
  
      double x, y, z;
  
      x = .5; y = .5; z = -.5;
      points.push_back(cv::Point3d(x, y, z));
  
      x = .5; y = .5; z = .5;
      points.push_back(cv::Point3d(x, y, z));
  
      x = -.5; y = .5; z = .5;
      points.push_back(cv::Point3d(x, y, z));
  
      x = -.5; y = .5; z = -.5;
      points.push_back(cv::Point3d(x, y, z));
  
      x = .5; y = -.5; z = -.5;
      points.push_back(cv::Point3d(x, y, z));
  
      x = -.5; y = -.5; z = -.5;
      points.push_back(cv::Point3d(x, y, z));
  
      x = -.5; y = -.5; z = .5;
      points.push_back(cv::Point3d(x, y, z));
  
      for (unsigned int i = 0; i < points.size(); ++i)
      {
          std::cout << points[i] << std::endl << std::endl;
      }
  
      return points;
  }
  

  回复于 2024-04-30T08:36:28+08:00