2D-3D单应矩阵估计 [英] 2D-3D homography matrix estimation

问题描述

我正在使用我的Kinect进行一些2D 3D图像处理。这是我的问题：我的3D（x，y，z）中的点位于一个平面上。我也知道RGB图像（x，y）上的点的坐标。现在我想估计一个2D-3D单应矩阵来估计（x1，y1，z1）坐标到随机（x1，y1）点。我认为这是可能的，但我不知道从哪里开始。

I am working with my Kinect on some 2D 3D image processing. Here is my problem: I have points in 3D (x,y,z) which lie on a plane. I also know the coordinates of the points on the RGB image (x,y). Now I want to estimate a 2D-3D homography matrix to estimate the (x1,y1,z1) coordinates to a random (x1,y1) point. I think that is possible, but I don't know where to start.

谢谢！

推荐答案

您要找的是相机投影矩阵，而不是单应性。单应性将从相机看到的平面映射到从另一个看到的同一平面。

What you're looking for is a camera projection matrix, not a homography. A homography maps a plane seen from a camera to the same plane seen from another.

为了估计相机矩阵，从已知的点对应中查找求解相机姿态的解决方案。为了帮助您入门，请关于该主题的开创性论文和 OpenCV 实现 solvePnP 。

For estimating the camera matrix, look up solutions to solving for camera pose from known point correspondences. To get you started, a seminal paper on the topic and the OpenCV implementation solvePnP.

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