OpenCVSharp 4.5 单应性矩阵(Homography)估计相机姿态

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于 2021-07-18 21:47:44 发布 · 964 阅读

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该博客演示了如何使用OpenCVSharp4.5库在C#中实现OpenCV的官方教程，重点在于棋盘格角点的检测（FindChessboardCorners）和基于共平面点的姿态估计（包括内参矩阵加载、畸变校正、 Homography计算及旋转和平移矢量的获取）。

用 OpenCVSharp 4.5 跑一遍 OpenCV 官方教程。

原 OpenCV 官方教程链接：（今天链接失效了？）Demo 1

using System;
using System.Collections.Generic;
using OpenCvSharp;

namespace ConsoleApp1
{
    class tutorial52 : ITutorial
    {
        enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };

        private void calcChessboardCorners(Size boardSize, float squareSize, out Vec3f[] corners, Pattern patternType = Pattern.CHESSBOARD)
        {
            List<Vec3f> corners_list = new List<Vec3f>();
            //corners.resize(0);

            switch (patternType)
            {
                case Pattern.CHESSBOARD:
                case Pattern.CIRCLES_GRID:
                    //! [compute-chessboard-object-points]
                    for (int i = 0; i < boardSize.Height; i++)
                        for (int j = 0; j < boardSize.Width; j++)
                            corners_list.Add(new Point3f((float)(j * squ

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