python快速实现图像矫正_图像矫正OpenCV Python

我正在尝试纠正RGB-D Dataset 7-Scenes中的成对图像。由于数据集提供了地面真实姿态数据，所以我没有试图提取匹配点和计算F，而是使用看起来正确的https://math.stackexchange.com/a/709658计算相对平移和旋转，并将这两个帧视为校准场景。在

然而，整改结果却是垃圾。我尝试了使用几个alpha值(-1，0，1，以及[0,1]范围内的许多值)，但是没有得到好的结果。在

相对的R和t看起来很好(近帧具有小的旋转和平移)。在

对于相机矩阵，我使用the dataset(主点(320240)，焦距(585585))中给出的值import cv2

import numpy as np

from matplotlib import pyplot as plt

frame1 = 100

frame2 = 160

img_1_path = './chess/seq-01/frame-000{}.color.png'.format(frame1)

img_2_path = './chess/seq-01/frame-000{}.color.png'.format(frame2)

pose_1_path = './chess/seq-01/frame-000{}.pose.txt'.format(frame1)

pose_2_path = './chess/seq-01/frame-000{}.pose.txt'.format(frame2)

img_1 = cv2.imread(img_1_path)

img_2 = cv2.imread(img_2_path)

pose1 = np.loadtxt(pose_1_path)

pose2 = np.loadtxt(pose_2_path)

R1 = pose1[0:3, 0:3]

t1 = pose1[0:3, 3]

R2 = pose2[0:3, 0:3]

t2 = pose2[0:3, 3]

# https://math.stackexchange.com/questions/709622/relative-camera-matrix-pose-from-global-camera-matrixes

R = np.matmul(np.linalg.inv(R2), R1)

T = np.matmul(np.linalg.inv(R2), (t1 - t2))

# https://www.microsoft.com/en-us/research/project/rgb-d-dataset-7-scenes/

px = 320.0

py = 240.0

fx = 585.0

fy = 585.0

cameraMatrix1 = np.array(

[

[fx, 0, px],

[0, fy, py],

[0, 0, 1.0]

]

)

cameraMatrix2 = cameraMatrix1

distCoeff = np.zeros(4)

R1, R2, P1, P2, Q, roi1, roi2 = cv2.stereoRectify(

cameraMatrix1=cameraMatrix1,

distCoeffs1=distCoeff,

cameraMatrix2=cameraMatrix2,

distCoeffs2=distCoeff,

imageSize=(640, 480),

R=R,

T=T,

flags=cv2.CALIB_ZERO_DISPARITY,

alpha=1)

map1x, map1y = cv2.initUndistortRectifyMap(

cameraMatrix=cameraMatrix1,

distCoeffs=distCoeff,

R=R1,

newCameraMatrix=P1,

size=(640, 480),

m1type=cv2.CV_32FC1)

map2x, map2y = cv2.initUndistortRectifyMap(

cameraMatrix=cameraMatrix2,

distCoeffs=distCoeff,

R=R2,

newCameraMatrix=P2,

size=(640, 480),

m1type=cv2.CV_32FC1)

img1_rect = cv2.remap(img_1, map1x, map1y, cv2.INTER_LINEAR)

img2_rect = cv2.remap(img_2, map2x, map2y, cv2.INTER_LINEAR)

fig, ax = plt.subplots(nrows=2, ncols=2)

plt.subplot(2, 2, 1)

plt.imshow(img_1)

plt.subplot(2, 2, 2)

plt.imshow(img_2)

plt.subplot(2, 2, 3)

plt.imshow(img1_rect)

plt.subplot(2, 2, 4)

plt.imshow(img2_rect)

plt.show(block=False)

plt.pause(10)

plt.close()

你知道我错过了什么吗？我应该不相信地面真实姿态数据还是我的管道有缺陷？在

谢谢。在