像素坐标转相机坐标c++代码

以下是将像素坐标转换为相机坐标的C++代码：

cv::Mat cameraMatrix; // 相机内参矩阵
cv::Mat distortionCoefficients; // 相机畸变系数
double px = ...; // 像素坐标x
double py = ...; // 像素坐标y

// 将像素坐标转换为相机坐标
cv::Mat imagePoint = cv::Mat(3, 1, CV_64F);
imagePoint.at<double>(0) = px;
imagePoint.at<double>(1) = py;
imagePoint.at<double>(2) = 1.0;

cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64F);
cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64F);
cv::Mat cameraPoint = cv::Mat::zeros(3, 1, CV_64F);

cv::solvePnP(cv::Mat(objPoints), cv::Mat(imgPoints), cameraMatrix, distortionCoefficients, rvec, tvec);
cv::Mat R;
cv::Rodrigues(rvec, R);
cv::Mat R_inv = R.inv();
cameraPoint = R_inv * cameraMatrix.inv() * imagePoint;

// 输出相机坐标
std::cout << cameraPoint.at<double>(0) << ", " << cameraPoint.at<double>(1) << ", " << cameraPoint.at<double>(2) << std::endl;

其中，`cameraMatrix`和`distortionCoefficients`是相机的内参矩阵和畸变系数，`px`和`py`是像素坐标，`objPoints`和`imgPoints`是对应的物理三维坐标和像素二维坐标。这里使用了OpenCV的`solvePnP`函数来求解相机位姿，然后根据相机内参矩阵和畸变系数将像素坐标转换为相机坐标。