opencv undistortPoints returning NaN ios
我一直在使用 opencv，但我似乎无法让 undistortPoints 工作。它返回的矩阵只有 NaN 值。
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 | //newKeyPoints is std::vector<cv::KeyPoint>, and it's values are valid cv::Mat src = cv::Mat(1,newKeyPoints.size(),CV_32FC2); int i = 0; for (std::vector<cv::KeyPoint>::iterator it = newKeyPoints.begin(); it != newKeyPoints.end(); it++){ src.at<cv::Vec2f>(0,i)[0] = (*it).pt.x; src.at<cv::Vec2f>(0,i)[1] = (*it).pt.y; i++; } cv::Mat norm = cv::Mat(1,newKeyPoints.size(),CV_32FC2); //Note: fx, fy, cx, cy... k3 are all global constants declared when initialized cv::Mat cameraMatrix = cv::Mat(3, 3, CV_32F); cameraMatrix.at<double>(0,0) = fx; //double fx = 354.65 cameraMatrix.at<double>(1,0) = 0; cameraMatrix.at<double>(2,0) = 0; cameraMatrix.at<double>(0,1) = 0; cameraMatrix.at<double>(1,1) = fy; //double fy = 355.66 cameraMatrix.at<double>(2,1) = 0; cameraMatrix.at<double>(0,2) = cx; //double cx = 143.2 cameraMatrix.at<double>(1,2) = cy; //double cy = 173.6 cameraMatrix.at<double>(2,2) = 1; cv::Mat distCo = cv::Mat(1, 5, CV_32F); distCo.at<double>(0,0) = k1; //double k1 = .005 distCo.at<double>(0,1) = k2; //double k2 = .002 distCo.at<double>(0,2) = p1; //double p1 = -.009 distCo.at<double>(0,3) = p2; //double p2 = -.008 distCo.at<double>(0,4) = k3; //double k3 = -.03 cv::undistortPoints(src, norm, cameraMatrix, distCo); for (int p = 0; p<newKeyPoints.size(); p++){ printf("%f, %f \ ",norm.at<Vec2f>(0,p)[0], norm.at<Vec2f>(0,p)[1]); } |
打印的值总是"nan, nan"。我也尝试使用 norm 作为 std::vector，但返回的结果相同。调用方法后 src、cameraMatrix 和 distCo 的值也保持不变(我通过打印出它们的值进行了测试)，所以我确信我给 undistortPoints 提供了所有正确的信息。我是否错误地使用了 cv::Mat，使用了糟糕的形式，或者这是 opencv 的错误。任何关于从这里做什么的见解将不胜感激。
以撒
如果你想让你的矩阵存储双精度值，你需要用
声明它
1 | cv::Mat your_matrix(rows,cols,CV_64FC1); |
您还没有对 cameraMatrix 和 distCo 矩阵进行此操作。目前您正在尝试使用 64 位访问器访问这些数组的 32 位元素。