OpenCVSharp 4.5 相机位移之单应性矩阵

最新推荐文章于 2025-04-29 20:30:00 发布

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最新推荐文章于 2025-04-29 20:30:00 发布 · 1.3k 阅读

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#OpenCV

该代码示例展示了如何使用OpenCVSharp4.5实现OpenCV官方教程中的棋盘格homography计算。通过FindChessboardCorners找到图像中的棋盘格角点，然后利用SolvePnP计算相机姿态，进一步计算两个相机间的相对位姿，从而求得homography矩阵。最后，使用这个homography矩阵对图像进行透视变换。

用 OpenCVSharp 4.5 跑一遍 OpenCV 官方教程

原 OpenCV 官方教程链接：OpenCV: Basic concepts of the homography explained with code (Demo3)

using System;
using System.Collections.Generic;
using OpenCvSharp;
namespace ConsoleApp1
{
    class tutorial56 : ITutorial
    {
        enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };

        private void calcChessboardCorners(Size boardSize, float squareSize, out Point3f[] corners, Pattern patternType = Pattern.CHESSBOARD)
        {
            //corners.resize(0);

            List<Point3f> corner_list = new List<Point3f>();

            corners = new Point3f[boardSize.Width * boardSize.Height];
            switch (patternType)
            {
                case Pattern.CHESSBOARD:
                case Pattern.CIRCLES_GRID:
                    for (int i = 0; i < boardSize.Height; i++)
                        for (int j = 0; j < boardSize.Width; j++)
                            corner_list.Add(new Point3f((float)(j * squareSize), (float)(i * squareSize), 0));
                    break;

                case Pattern.ASYMMETRIC_CIRCLES_GRID:
                    for (int i = 0; i < boardSize.Height; i++)
                        for (int j = 0; j < boardSize.Width; j++)
                            corner_list.Add(new Point3f((float)((2 * j + i % 2) * squareSize), (float)(i * squareSize), 0));
                    break;

                default:
                    Console.WriteLine("Unknown pattern type\n");
                    break;
            }
            corners = corner_list.ToArray();
        }

        //! [compute-homography]
        private Mat computeHomography(Mat R_1to2, Mat tvec_1to2, double d_inv, Mat norma