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请教下第7章中的solvePnP以及projectPoints #283

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aopaw opened this issue Apr 27, 2021 · 0 comments
Open

请教下第7章中的solvePnP以及projectPoints #283

aopaw opened this issue Apr 27, 2021 · 0 comments

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@aopaw
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aopaw commented Apr 27, 2021

solvePnp得出结果后，想用R和t计算出2d来再与 solvePnP中用的2d点求误差
高博代码里看到solvePnP中用的实际是 (X/Z, Y/Z, 1) * depth/5000
可以理解为相机坐标系罢，这里的疑问是求出来的R和t如果计算误差的话
一组2d是solvePnP时已知 一组2d应该是由KTPw得到 Pw怎么到呢
肯定不是R.inv() Pc - t这种没意义的计算
请指点一下
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