如何使用python cv2 api格式化undistortPoints的xy点?

Luc*_*s W 8 python opencv

我无法格式化x,y列表以传递给undistortPoints(opencv 2.4.1).

错误消息是特定于c ++的,并且抱怨不是CV_32FC2类型的点数组.我不应该能够传入Nx2 numpy阵列吗?

import cv2

camera_matrix = array(mat('1.3e+03, 0., 6.0e+02; 0., 1.3e+03, 4.8e+02; 0., 0., 1.'), dtype=float32)
dist_coeffs = array(mat('-2.4-01, 9.5e-02, -4.0e-04, 8.9e-05, 0.'), dtype=float32)

test = zeros((10,2), dtype=float32)

print test.shape, type(test)

xy_undistorted = cv2.undistortPoints(test, camera_matrix, dist_coeffs)
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结果是:

opencv/modules/imgproc/src/undistort.cpp:279: error: (-215) CV_IS_MAT(_src) && CV_IS_MAT(_dst) && (_src->rows == 1 || _src->cols == 1) && (_dst->rows == 1 || _dst->cols == 1) && _src->cols + _src->rows - 1 == _dst->rows + _dst->cols - 1 && (CV_MAT_TYPE(_src->type) == CV_32FC2 || CV_MAT_TYPE(_src->type) == CV_64FC2) && (CV_MAT_TYPE(_dst->type) == CV_32FC2 || CV_MAT_TYPE(_dst->type) == CV_64FC2) in function cvUndistortPoints
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在samples/python2/video.py中,使用了projectPoints,它接受一个数组并对其进行整形(-1,3),从而得到该函数的Nx3数组,看起来这里的格式相同.

Abi*_*n K 11

我不太了解相机校准.但看到你的代码和错误,我改变如下:

import cv2
import numpy as np
camera_matrix = np.array([[1.3e+03, 0., 6.0e+02], [0., 1.3e+03, 4.8e+02], [0., 0., 1.]], dtype=np.float32)
dist_coeffs = np.array([-2.4-01, 9.5e-02, -4.0e-04, 8.9e-05, 0.], dtype=np.float32)

test = np.zeros((10,1,2), dtype=np.float32)
xy_undistorted = cv2.undistortPoints(test, camera_matrix, dist_coeffs)

print xy_undistorted
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以下是我得到的结果,检查它是否正确:

[[[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]

 [[ 0.0187303   0.01477836]]]
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问题是什么 :

错误说,源应该有EITHER one row OR one column.它应该是CV_32FC2或CV_64FC2,表示两个通道和浮点.所以,让你的形状(10,1,2) or (1,10,2).这两种方法都有效并且给出相同的结果(我自己检查过).唯一的问题是,我不知道它是否正确,所以请自行检查.