OpenCV的外部参数 [英] Extrinsic parameters from OpenCV

问题描述

我正在使用OpenCV校准立体声摄像机对.我已经拍摄了各种校准照片，并且使用cv2.calibrateCamera对内部参数非常满意.但是，尚不清楚如何获取外部参数.

I'm using OpenCV to calibrate a stereo camera pair. I've taken various calibration photos and I have a satisfactory fit for the intrinsic parameters using cv2.calibrateCamera. However, it's not clear how to get the extrinsic parameters out.

该函数仅返回cameraMatrix，尽管它只是故事的一半，但仍然有用.我希望能够获得文档顶部所示的旋转/平移-即从世界原点到相机透视中心的矢量和旋转.

The function just returns the cameraMatrix, which while useful is only half the story, as it were. I'd like to be able to obtain the rotation/translation shown in the top of the documentation - i.e. a vector from the world origin to the camera perspective centre and a rotation.

我猜cv2.solvePnP类似于我需要的东西，但是尚不清楚确切的R/T是-投影公式中的[R | t]还是其他?

I'm guessing cv2.solvePnP is something like what I need, but it's unclear exactly what R/T are - are they [R|t] in the projection formula or something else?

我意识到也可以使用cv2.stereoCalibrate，但是我不明白为什么必须要有两台摄像机.原则上，每个摄像机都可以获取投影矩阵.

I realise that it's also possible to use cv2.stereoCalibrate, but I don't see why it's necessary to have two cameras. In principle the projection matrix is obtainable for each camera individually.

推荐答案

R和T是3x1向量，用于描述相机的旋转和平移

R and T are 3x1 vectors describing the rotation and translation of your camera

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