OpenCV的projectPoints函数用法

函数cvProjectPoints2通过给定的内参数和外参数计算三维点投影到二维图像平面上的坐标。 

#include "opencv2/core/core.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/highgui/highgui.hpp"

#include 
#include 

using namespace std;

vector Generate3DPoints();

int main(int argc, char* argv[])
{
    // Read 3D points
    vector objectPoints = Generate3DPoints();
    vector imagePoints;

    cv::Mat intrisicMat(3, 3, cv::DataType::type); // Intrisic matrix
    intrisicMat.at(0, 0) = 1.6415318549788924e+003;
    intrisicMat.at(1, 0) = 0;
    intrisicMat.at(2, 0) = 0;

    intrisicMat.at(0, 1) = 0;
    intrisicMat.at(1, 1) = 1.7067753507885654e+003;
    intrisicMat.at(2, 1) = 0;

    intrisicMat.at(0, 2) = 5.3262822453148601e+002;
    intrisicMat.at(1, 2) = 3.8095355839052968e+002;
    intrisicMat.at(2, 2) = 1;

    cv::Mat rVec(3, 1, cv::DataType::type); // Rotation vector
    rVec.at(0) = -3.9277902400761393e-002;
    rVec.at(1) = 3.7803824407602084e-002;
    rVec.at(2) = 2.6445674487856268e-002;

    cv::Mat tVec(3, 1, cv::DataType::type); // Translation vector
    tVec.at(0) = 2.1158489381208221e+000;
    tVec.at(1) = -7.6847683212704716e+000;
    tVec.at(2) = 2.6169795190294256e+001;

    cv::Mat distCoeffs(5, 1, cv::DataType::type);   // Distortion vector
    distCoeffs.at(0) = -7.9134632415085826e-001;
    distCoeffs.at(1) = 1.5623584435644169e+000;
    distCoeffs.at(2) = -3.3916502741726508e-002;
    distCoeffs.at(3) = -1.3921577146136694e-002;
    distCoeffs.at(4) = 1.1430734623697941e-002;

    cout << "Intrisic matrix: " << intrisicMat << endl << endl;
    cout << "Rotation vector: " << rVec << endl << endl;
    cout << "Translation vector: " << tVec << endl << endl;
    cout << "Distortion coef: " << distCoeffs << endl << endl;

    std::vector projectedPoints;
    cv::projectPoints(objectPoints, rVec, tVec, intrisicMat, distCoeffs, projectedPoints);

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

    cout << "Press any key to exit.";
    cin.ignore();
    cin.get();

    return 0;
}

vector Generate3DPoints()
{
    vector 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)
    { 
        cout << points[i] << endl << endl;
    }

    return points;
}

参考：http://www.itkeyword.com/doc/8898489402460001x144/opencvs-projectpoints-function