# 使用双目相机进行三维重建 第二部分：姿态估计

## 开始

```import cv2import numpy as npimport glob
# Load previously saved datawith np.load('B.npz') as X:    mtx, dist, _, _ = [X[i] for i in ('mtx','dist','rvecs','tvecs')]```

`def draw(img, corners, imgpts):    corner = tuple(corners[0].ravel())    img = cv2.line(img, corner, tuple(imgpts[0].ravel()), (255,0,0), 5)    img = cv2.line(img, corner, tuple(imgpts[1].ravel()), (0,255,0), 5)    img = cv2.line(img, corner, tuple(imgpts[2].ravel()), (0,0,255), 5)    return img`

```criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER, 30, 0.001)objp = np.zeros((6*7,3), np.float32)objp[:,:2] = np.mgrid[0:7,0:6].T.reshape(-1,2)
axis = np.float32([[3,0,0], [0,3,0], [0,0,-3]]).reshape(-1,3)```

```for fname in glob.glob('left*.jpg'):    img = cv2.imread(fname)    gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)    ret, corners = cv2.findChessboardCorners(gray, (7,6),None)
if ret == True:        corners2 = cv2.cornerSubPix(gray,corners,(11,11),(-1,-1),criteria)
# Find the rotation and translation vectors.        rvecs, tvecs, inliers = cv2.solvePnPRansac(objp, corners2, mtx, dist)
# project 3D points to image plane        imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist)
img = draw(img,corners2,imgpts)        cv2.imshow('img',img)        k = cv2.waitKey(0) & 0xff        if k == 's':            cv2.imwrite(fname[:6]+'.png', img)
cv2.destroyAllWindows()```

## 渲染一个立方体

```def draw(img, corners, imgpts):    imgpts = np.int32(imgpts).reshape(-1,2)
# draw ground floor in green    img = cv2.drawContours(img, [imgpts[:4]],-1,(0,255,0),-3)
# draw pillars in blue color    for i,j in zip(range(4),range(4,8)):        img = cv2.line(img, tuple(imgpts[i]), tuple(imgpts[j]),(255),3)
# draw top layer in red color    img = cv2.drawContours(img, [imgpts[4:]],-1,(0,0,255),3)
return img```

`axis = np.float32([[0,0,0], [0,3,0], [3,3,0], [3,0,0],                   [0,0,-3],[0,3,-3],[3,3,-3],[3,0,-3] ])`

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