Camera Calibration and 3D Reconstruction
Camera Calibration and 3D Reconstruction — OpenCV 2.4.13.7 documentation
Parameters: objectPoints – In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space (e.g. std::vector >). The outer vector contains as many elements as the number of the pattern views. If th
docs.opencv.org
https://www.programcreek.com/python/example/110665/cv2.triangulatePoints
def triangulation(kp1, kp2, T_1w, T_2w):
"""Triangulation to get 3D points
Args:
kp1 (Nx2): keypoint in view 1 (normalized)
kp2 (Nx2): keypoints in view 2 (normalized)
T_1w (4x4): pose of view 1 w.r.t i.e. T_1w (from w to 1)
T_2w (4x4): pose of view 2 w.r.t world, i.e. T_2w (from w to 2)
Returns:
X (3xN): 3D coordinates of the keypoints w.r.t world coordinate
X1 (3xN): 3D coordinates of the keypoints w.r.t view1 coordinate
X2 (3xN): 3D coordinates of the keypoints w.r.t view2 coordinate
"""
kp1_3D = np.ones((3, kp1.shape[0]))
kp2_3D = np.ones((3, kp2.shape[0]))
kp1_3D[0], kp1_3D[1] = kp1[:, 0].copy(), kp1[:, 1].copy()
kp2_3D[0], kp2_3D[1] = kp2[:, 0].copy(), kp2[:, 1].copy()
X = cv2.triangulatePoints(T_1w[:3], T_2w[:3], kp1_3D[:2], kp2_3D[:2])
X /= X[3]
X1 = T_1w[:3] @ X
X2 = T_2w[:3] @ X
return X[:3], X1, X2 Camera Calibration and 3D Reconstruction — OpenCV 3.0.0-dev documentation
Parameters: objectPoints – In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space. The outer vector contains as many elements as the number of the pattern views. If the same calibration pa
docs.opencv.org
Camera Calibration and 3D Reconstruction — OpenCV 3.0.0-dev documentation
Parameters: objectPoints – In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space. The outer vector contains as many elements as the number of the pattern views. If the same calibration pa
docs.opencv.org
Camera Calibration and 3D Reconstruction — OpenCV 3.0.0-dev documentation
Parameters: objectPoints – In the new interface it is a vector of vectors of calibration pattern points in the calibration pattern coordinate space. The outer vector contains as many elements as the number of the pattern views. If the same calibration pa
docs.opencv.org