opencv 坐标转换常用的函数solvePnP()、 projectPoints()、stereoRectify()、stereoCalibrate()、undistortPoints()

undistortPoints()

https://docs.opencv.org/2.4/modules/imgproc/doc/geometric_transformations.html

https://www.programcreek.com/python/example/89384/cv2.undistortPoints

https://answers.ros.org/question/33281/does-opencvs-undistortpoints-also-rectify-them/

https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

 

opencv 坐标转换常用的函数solvePnP()、 projectPoints()、stereoRectify()、stereoCalibrate()

https://blog.csdn.net/panpan_jiang1/article/details/86063152

 

通过如下：

https://www.cnblogs.com/aoru45/p/9781540.html

可知solvePnP，使用的是矫正畸变前的图片去得到像点，然后把像点，内参，畸变一起输入solvePnP函数

 

 

{畸变矫正}图像去畸变opencv各种方法与matlab各种方法-联合分析（一统江湖）

https://blog.csdn.net/KYJL888/article/details/81043133

 

旋转向量转换为旋转矩阵：

solvePNP问题

https://blog.csdn.net/lircsszz/article/details/80078730

 //PnP
    cv::Mat r_test;
    cv::Mat t_test;
    cv::Mat R_test(3,3,CV_32F);
    cv::solvePnP(objs,projected_pts,matrix,coeff,r_test,t_test,false,CV_ITERATIVE);
    cv::Rodrigues(r_test,R_test);