opencv 根据4个aruco解算相机位姿 c++代码
时间: 2023-11-20 16:06:51 浏览: 27
以下是使用OpenCV库根据4个Aruco标记解算相机位姿的C++代码:
```cpp
#include <iostream>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
int main()
{
// 定义相机参数
double fx = 1000.0;
double fy = 1000.0;
double cx = 320.0;
double cy = 240.0;
// 定义Aruco字典和参数
Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::DICT_4X4_50);
aruco::DetectorParameters parameters;
parameters.cornerRefinementMethod = aruco::CORNER_REFINE_SUBPIX;
// 读取相机图像
Mat image = imread("image.jpg");
// 检测Aruco标记
vector<int> ids;
vector<vector<Point2f>> corners;
aruco::detectMarkers(image, dictionary, corners, ids, parameters);
// 如果检测到4个标记
if (ids.size() == 4)
{
// 获取标记的3D坐标
vector<Point3f> objectPoints;
objectPoints.push_back(Point3f(-0.5, -0.5, 0.0));
objectPoints.push_back(Point3f(-0.5, 0.5, 0.0));
objectPoints.push_back(Point3f(0.5, 0.5, 0.0));
objectPoints.push_back(Point3f(0.5, -0.5, 0.0));
// 获取标记的2D坐标
vector<Point2f> imagePoints;
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < ids.size(); j++)
{
if (ids[j] == i)
{
imagePoints.push_back(corners[j][0]);
break;
}
}
}
// 解算相机位姿
Mat rvec, tvec;
solvePnP(objectPoints, imagePoints, Mat::eye(3, 3, CV_64F), Mat(), rvec, tvec);
Mat R;
Rodrigues(rvec, R);
// 输出相机位姿
cout << "Rotation:" << endl;
cout << R << endl;
cout << "Translation:" << endl;
cout << tvec << endl;
}
else
{
cout << "Not enough markers detected!" << endl;
}
return 0;
}
```
这个代码假设相机的内参已知,并且Aruco标记已经被检测到。解算相机位姿使用solvePnP函数,它需要提供3D标记的坐标和2D标记的坐标。在这个例子中,我们假设4个标记的3D坐标已知,并将它们存储在objectPoints向量中。我们从检测到的标记中提取2D坐标,并将它们存储在imagePoints向量中。解算相机位姿后,我们将旋转向量转换为旋转矩阵,并输出结果。