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Measuring Planar Objects with a Calibrated Camera

asked 2016-07-08 20:53:50 -0500

dimensional1 gravatar image

I would like to measure some coins placed on top of a calibration plate, as per this matlab example http://mathworks.com/help/vision/exam... .

Does OpenCV have an equivalent to the pointsToWorld function that lets you pass in pixel X,Y's and get world X,Y's on a plane?

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thanks but I don't see anything in those links directly relating to the question. Am I missing something?

dimensional1 gravatar imagedimensional1 ( 2016-07-09 05:46:36 -0500 )edit

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answered 2016-07-22 01:31:25 -0500

dandur gravatar image

There's no analog for pointsToWorld as I know. You can find x and y (z is equal zero in such case) like this:

  1. apply cv::undistortPoints to your pixel coordintes (let's u and v) and get ideal coordinates (un and vn)
  2. solve system of linear equations:

    w * [un vn 1] = Rt * [x y 0 1]

that gets you

r11 * x + r12 * y - w * un = -t1;
r21 * x + r22 * y - w * vn = -t2;
r31 * x + r32 * y - w = -t3;

Here x and y are coordinates in chessboard plane, w is distant to point from camera, rij are components of rotation matrix and ti are components of translation vector.

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Thanks, i'm still struggling to get the correct equation. My python to go from object points to image points looks like this:

object_points = np.array([[0, 0, .4], [.3, .2, .4]])

image_points, jacobian = cv2.projectPoints(object_points, rvec, tvec, camera_matrix, dist_coefs)

cv2.line(img, tuple(image_points[0].astype(int).ravel()), tuple(image_points[1].astype(int).ravel()),(0, 255, 0), 1)

image_points = np.array([[100, 100], [200, 200]])

object_points_on_plane = ????

but i'm unsure how to go back to object points on a plane from image points.

dimensional1 gravatar imagedimensional1 ( 2016-08-02 10:33:56 -0500 )edit
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Asked: 2016-07-08 18:54:35 -0500

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Last updated: Jul 22 '16