问题描述
给出一组2D点，如何应用undistortPoints的反面?
Given a set of 2D points, how can I apply the opposite of undistortPoints?
我拥有相机的内在特性和distCoeffs，并且想要(例如)创建一个正方形，并使其变形，就好像照相机是通过镜头查看它一样.
I have the camera intrinsics and distCoeffs and would like to (for example) create a square, and distort it as if the camera had viewed it through the lens.
我在这里找到了一个变形"补丁: http://code.opencv.org/issues /1387 ，但这似乎仅对图像有用，我想处理稀疏点.
I have found a 'distort' patch here : http://code.opencv.org/issues/1387 but it would seem this is only good for images, I want to work on sparse points.
推荐答案
这个问题已经很老了，但是由于我从谷歌搜索中来到这里，却没有看到一个简洁的答案，所以我还是决定回答这个问题.
This question is rather old but since I ended up here from a google search without seeing a neat answer I decided to answer it anyway.
有一个名为 projectPoints 可以做到这一点. OpenCV在使用诸如 calibrateCamera 和 stereoCalibrate
There is a function called projectPoints that does exactly this. The C version is used internally by OpenCV when estimating camera parameters with functions like calibrateCamera and stereoCalibrate
要将2D点用作输入，我们可以使用 convertPointsToHomogeneous ，并使用projectPoints且不旋转也不翻译.
To use 2D points as input, we can set all z-coordinates to 1 with convertPointsToHomogeneous and use projectPoints with no rotation and no translation.
cv::Mat points2d = ...;
cv::Mat points3d;
cv::Mat distorted_points2d;
convertPointsToHomogeneous(points2d, points3d);
projectPoints(points3d, cv::Vec3f(0,0,0), cv::Vec3f(0,0,0), camera_matrix, dist_coeffs, distorted_points2d);
这篇关于用相机内部/外部重新扭曲点的文章就介绍到这了，希望我们推荐的答案对大家有所帮助，也希望大家多多支持！