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資源簡介

使用OpenCV中的solvePnP函數(shù)計算相機姿態(tài)（旋轉(zhuǎn)與平移）

資源截圖

代碼片段和文件信息 

#include?“opencv2/core/core.hpp“
#include?“opencv2/video/tracking.hpp“
#include?“opencv2/imgproc/imgproc.hpp“
#include?“opencv2/highgui/highgui.hpp“
#include?
#include?“opencv2/features2d/features2d.hpp“
#include?
#include?

using?namespace?cv;
using?namespace?std;

double?camD[9]?=?{618.526381968738?0?310.8963715614199
					0?619.4548980786033?248.6374860176724
					0?0?1};
double?distCoeffD[5]?=?{0.09367405350511771?-0.08731677320554751?0.002823563134787144?-1.246739177460954e-005?-0.0469061739387372};
Mat?camera_matrix?=?Mat（33CV_64FC1camD）;
Mat?distortion_coefficients?=?Mat（51CV_64FC1distCoeffD）;

vector?objP;
Mat?objPM;
vector?rv（3）?tv（3）;
Mat?rvec（rv）tvec（tv）;?
double?rm[9];
Mat?rotM（33CV_64FC1rm）;

Mat?gray?prevGray?image?frame;
vector?points[2];
vector?initPoints;
vector?recoveryPoints;
vector?projectedPoints;
vector?goodfeatures;
bool?initflag?=?false;
bool?needToGetgf?=?false;
bool?needtomap?=?false;
bool?needtokeeptime?=?false;

const?int?MAX_COUNT?=?500;
size_t?trackingpoints?=?0;

BriefDescriptorExtractor?brief;
Mat?initdescriptors;

string?msg;
int?baseLine;
Size?textSize;

DWORD?t1t2;
int?framenum?=?0;

TermCriteria?termcrit（CV_TERMCRIT_ITER|CV_TERMCRIT_EPS?30?0.01）;
Size?subPixWinSize（1010）winSize（3131）;

VideoCapture?cap（0）;

static?void?help（）
{
	//?print?a?welcome?message?and?the?OpenCV?version	
	cout?<		“Using?OpenCV?version?“?<	cout?<		“\tESC?-?quit?the?program\n“
		“\tg?-?get?the?good?corners\n“
		“\tc?-?delete?all?the?points\n“
		“\tm?-?choose?four?points?to?track?and?update?camera?pose?then\n“
		“\t\t（To?add?a?tracking?point?please?click?it?and?press?SPACE）\n“?
		“\tt?-?keep?the?time?to?get?FPS\n“?<		
}


void?on_mouse（int?eventint?xint?yint?flag?void?*param）
{
	if（event==CV_EVENT_LBUTTONDOWN）
	{
		if（needtomap?&&?points[1].size（）<4）
		{
			for（size_t?i?=?0;i			{
				if（abs（goodfeatures[i].x-x）+abs（goodfeatures[i].y-y）<3）
				{
					points[1].push_back（goodfeatures[i]）;
					trackingpoints++;
					break;
				}
			}
		}	
	}
}

bool?init（）
{
	cap.set（CV_CAP_PROP_frame_WIDTH640）;
	cap.set（CV_CAP_PROP_frame_HEIGHT480）;

	if（?!cap.isOpened（）?）
	{
		cout?<		return?false;
	}

	namedWindow（?“PTAM_cc_LK_Tracking“?1?）;
	cvSetMouseCallback（?“PTAM_cc_LK_Tracking“on_mouseNULL?）;

	objP.push_back（Point3f（000））;????//三維坐標的單位是毫米
	objP.push_back（Point3f（500））;
	objP.push_back（Point3f（550））;
	objP.push_back（Point3f（050））;
	Mat（objP）.convertTo（objPMCV_32F）;
	
	return?true;
}

void?getPlanarSurface（vector&?imgP）{

	Rodrigues（rotMrvec）;
	solvePnP（objPM?Mat（imgP）?camera_matrix?distortion_coefficients?rvec?tvec）;

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件?????182272??2015-10-05?22:16??ptam_lk_tracking\Debug\ptam_lk_tracking.exe

?????文件?????823424??2015-10-05?22:16??ptam_lk_tracking\Debug\ptam_lk_tracking.ilk

?????文件????2288640??2015-10-05?22:16??ptam_lk_tracking\Debug\ptam_lk_tracking.pdb

?????文件????????776??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\cl.command.1.tlog

?????文件??????32320??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\CL.read.1.tlog

?????文件????????576??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\CL.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link-cvtres.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link-cvtres.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link-rc.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link-rc.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.13052-cvtres.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.13052-cvtres.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.13052-rc.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.13052-rc.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.13052.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.13052.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.14772-cvtres.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.14772-cvtres.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.14772-rc.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.14772-rc.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.14772.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.14772.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.22636-cvtres.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.22636-cvtres.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.22636-rc.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.22636-rc.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.22636.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.22636.write.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.25252-cvtres.read.1.tlog

?????文件??????????2??2015-10-05?22:16??ptam_lk_tracking\ptam_lk_tracking\Debug\link.25252-cvtres.write.1.tlog

............此處省略37個文件信息

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