使用鱼眼 undistortPoints 时断言失败

Question

我正在尝试消除从相机拍摄的鱼眼图像的失真。我已经得到了需要的相机参数。但是，当我运行下面的代码时：

Mat cammatrix = cv::Mat::zeros(3,3, CV_64F);
cammatrix.at<double>(0,0) = 3.7089418826568277e+002;
cammatrix.at<double>(1,1) = 3.7179355652545451e+002;
cammatrix.at<double>(0,2) = 3.4450520804288089e+002;
cammatrix.at<double>(1,2) = 2.5859133287932718e+002;
cammatrix.at<double>(2,2) = 1.0;
std::vector<double> distortcoeff;
double tempdoub = -2.2022994789941803e+000;
distortcoeff.push_back(tempdoub);
tempdoub = 4.4652133910671958e+000;
distortcoeff.push_back(tempdoub);
tempdoub = 6.8050071879644780e-001;
distortcoeff.push_back(tempdoub);
tempdoub = -1.7697153575434696e+000;
distortcoeff.push_back(tempdoub);

// Process images here (optional)
    Mat img_scene (current);

    if(!img_scene.data )
    { std::cout<< " --(!) Error reading images " << std::endl; return -1; }
    img_scene.convertTo(img_scene, CV_32FC2);
    cv::fisheye::undistortPoints(img_scene, img_scene, cammatrix, distortcoeff);

我收到这个错误：

OpenCV Error: Assertion failed (distorted.type() == CV_32FC2 || distorted.type() == CV_64FC2) in undistortPoints

不确定为什么会这样，因为在将它转换为 CV_32FC2 之前我有 .convertTo 行。如果有人能帮我解决这个错误，我将不胜感激！

Answer 1

undistortPoints() 函数正在检索未失真的像素位置，因为它是图像上的当前失真位置。即它对点进行操作，而不是对图像进行操作。使用 fisheye::undistortImage 作为图像。

使用鱼眼 undistortPoints 时断言失败

Assertion Failed when using fisheye undistortPoints

opencv

fisheye

distortion

camera-calibration