如何在OpenCV中显示内在/​​外在摄像机参数？

Question

我正在使用OpenCV立体视觉，我的校准模块正在运行。出于调试的目的，我想要显示相机参数校准正在计算，我希望找到一些内置的功能来帮助实现这一点。我正在寻找类似于Matlab的showExtrinsics()的东西。任何建议/指向我自己的可视化？我无法在OpenCV文档中找到任何有用的信息。

我的内部函数矩阵：

%YAML:1.0 
M1: !!opencv-matrix 
    rows: 3 
    cols: 3 
    dt: d 
    data: [ 4.6716183686593592e+02, 0., 3.4685206899619874e+02, 0., 
     4.6716183686593592e+02, 2.6460277614179995e+02, 0., 0., 1. ] 
D1: !!opencv-matrix 
    rows: 1 
    cols: 5 
    dt: d 
    data: [ 1.3545958543110964e-01, -2.0383389968255977e-01, 0., 0., 0. ] 
M2: !!opencv-matrix 
    rows: 3 
    cols: 3 
    dt: d 
    data: [ 4.6716183686593592e+02, 0., 3.1321301298488936e+02, 0., 
     4.6716183686593592e+02, 2.7674405764548516e+02, 0., 0., 1. ] 
D2: !!opencv-matrix 
    rows: 1 
    cols: 5 
    dt: d 
    data: [ 6.8017486649835202e-02, -1.2178761345435389e-01, 0., 0., 0. ] 

我的外部参数矩阵：

%YAML:1.0 
R: !!opencv-matrix 
    rows: 3 
    cols: 3 
    dt: d 
    data: [ 9.9771868227118155e-01, -7.589346316e-03, 
     6.7083281814831405e-02, 8.9579410266375625e-03, 
     9.9975067896491787e-01, -2.0453244284196821e-02, 
     -6.6911780275377294e-02, 2.1007512017769996e-02, 
     9.9753771763237242e-01 ] 
T: !!opencv-matrix 
    rows: 3 
    cols: 1 
    dt: d 
    data: [ -3.7118950200284830e+00, 2.0057520035877928e-02, 
     -1.1958455121942886e-01 ] 
R1: !!opencv-matrix 
    rows: 3 
    cols: 3 
    dt: d 
    data: [ 9.9498387348418538e-01, -1.2286209661821963e-02, 
     9.9278097073585744e-02, 1.3314580062505074e-02, 
     9.9986428207583911e-01, -9.7025453735457880e-03, 
     -9.9145415749623558e-02, 1.0975722350366061e-02, 
     9.9501242206050977e-01 ] 
R2: !!opencv-matrix 
    rows: 3 
    cols: 3 
    dt: d 
    data: [ 9.9946687339085338e-01, -5.4006987617013216e-03, 
     3.2199401348428379e-02, 5.0670326515128601e-03, 
     9.9993271463178834e-01, 1.0435103699094591e-02, 
     -3.2253591651478383e-02, -1.0266385049651746e-02, 
     9.9942698941122865e-01 ] 
P1: !!opencv-matrix 
    rows: 3 
    cols: 4 
    dt: d 
    data: [ 4.2226276527153402e+02, 0., 2.8740816497802734e+02, 0., 0., 
     4.2226276527153402e+02, 2.7487768363952637e+02, 0., 0., 0., 1., 
     0. ] 
P2: !!opencv-matrix 
    rows: 3 
    cols: 4 
    dt: d 
    data: [ 4.2226276527153402e+02, 0., 2.8740816497802734e+02, 
     -1.5682311212949173e+03, 0., 4.2226276527153402e+02, 
     2.7487768363952637e+02, 0., 0., 0., 1., 0. ] 
Q: !!opencv-matrix 
    rows: 4 
    cols: 4 
    dt: d 
    data: [ 1., 0., 0., -2.8740816497802734e+02, 0., 1., 0., 
     -2.7487768363952637e+02, 0., 0., 0., 4.2226276527153402e+02, 0., 
     0., -2.6926054427670321e-01, 0. ] 

Answer 1

我不认为这是在OpenCV中这样的事情。但原则上，您可以将校准数据转换为matlab，然后手动构建一个对象，然后您可以将其传递给showExtrinsics()。