在矩阵上赋值

Question

我运行遇到了 C++ 问题。我的想法是用相机校准的预定义值填充一个内在矩阵，但我似乎没有正确地做到这一点。

Mat intrinsic_Matrix(3,3, CV_64F);
float fx = (4032 * 4)/6.69; //2410.76
float fy = (3024 * 4)/5.55; //2179.45

    float cx = 2016.0;
    float cy = 1512.0;

    cout << intrinsic_Matrix << endl;

    cout << endl;

    intrinsic_Matrix.at<float>(0,0) = fx;
    intrinsic_Matrix.at<float>(0,1) = 0.0;
    intrinsic_Matrix.at<float>(0,2) = cx;

    intrinsic_Matrix.at<float>(1,0) = 0.0;
    intrinsic_Matrix.at<float>(1,1) = fy;
    intrinsic_Matrix.at<float>(1,2) = cy;

    intrinsic_Matrix.at<float>(2,0) = 0.0;
    intrinsic_Matrix.at<float>(2,1) = 0.0;
    intrinsic_Matrix.at<float>(2,2) = 1.0;

    cout << intrinsic_Matrix << endl;
    calibrateCamera(frameWorldPoints, bothImagePoints, cvSize(referimages[0].image.cols, referimages[0].image.rows), intrinsic_Matrix, distortion_coeffs, rvecs, tvecs, CV_CALIB_USE_INTRINSIC_GUESS);

两张印刷品的输出都没有什么意义。看起来我正在查看指针值或未初始化的值。另外，当我尝试校准时，opencv 抛出一个 "intrinsic matrix not correct" 异常，所以我确定不是我打印错误。

Answer 1

您使用 64F 初始化 MAT，但使用浮点数。要么改成32F如下

Mat intrinsic_Matrix(3,3, CV_32F);
float fx = (4032 * 4)/6.69; //2410.76
float fy = (3024 * 4)/5.55; //2179.45

    float cx = 2016.0;
    float cy = 1512.0;

    cout << intrinsic_Matrix << endl;

    cout << endl;

    intrinsic_Matrix.at<float>(0,0) = fx;
    intrinsic_Matrix.at<float>(0,1) = 0.0;
    intrinsic_Matrix.at<float>(0,2) = cx;

    intrinsic_Matrix.at<float>(1,0) = 0.0;
    intrinsic_Matrix.at<float>(1,1) = fy;
    intrinsic_Matrix.at<float>(1,2) = cy;

    intrinsic_Matrix.at<float>(2,0) = 0.0;
    intrinsic_Matrix.at<float>(2,1) = 0.0;
    intrinsic_Matrix.at<float>(2,2) = 1.0;

    cout << intrinsic_Matrix << endl;
    calibrateCamera(frameWorldPoints, bothImagePoints, cvSize(referimages[0].image.cols, referimages[0].image.rows), intrinsic_Matrix, distortion_coeffs, rvecs, tvecs, CV_CALIB_USE_INTRINSIC_GUESS);

或

将所有变量更改为双倍，保持 intrinsic_matrix 初始化为 64F

Mat intrinsic_Matrix(3,3, CV_64F);
double fx = (4032 * 4)/6.69; //2410.76
double fy = (3024 * 4)/5.55; //2179.45

double cx = 2016.0;
double cy = 1512.0;

cout << intrinsic_Matrix << endl;

cout << endl;

intrinsic_Matrix.at<double>(0,0) = fx;
intrinsic_Matrix.at<double>(0,1) = 0.0;
intrinsic_Matrix.at<double>(0,2) = cx;

intrinsic_Matrix.at<double>(1,0) = 0.0;
intrinsic_Matrix.at<double>(1,1) = fy;
intrinsic_Matrix.at<double>(1,2) = cy;

intrinsic_Matrix.at<double>(2,0) = 0.0;
intrinsic_Matrix.at<double>(2,1) = 0.0;
intrinsic_Matrix.at<double>(2,2) = 1.0;

cout << intrinsic_Matrix << endl;

在矩阵上赋值

Assigning values on a matrix

c++

opencv

matrix

camera-calibration