使用鱼眼无失真点时断言失败

Question

我正在努力消除从相机拍摄的鱼眼图像的失真。我已经得到了所需的相机参数。然而，当我运行以下代码时：

Mat cammatrix = cv::Mat::zeros(3,3, CV_64F);
cammatrix.at<double>(0,0) = 3.7089418826568277e+002;
cammatrix.at<double>(1,1) = 3.7179355652545451e+002;
cammatrix.at<double>(0,2) = 3.4450520804288089e+002;
cammatrix.at<double>(1,2) = 2.5859133287932718e+002;
cammatrix.at<double>(2,2) = 1.0;
std::vector<double> distortcoeff;
double tempdoub = -2.2022994789941803e+000;
distortcoeff.push_back(tempdoub);
tempdoub = 4.4652133910671958e+000;
distortcoeff.push_back(tempdoub);
tempdoub = 6.8050071879644780e-001;
distortcoeff.push_back(tempdoub);
tempdoub = -1.7697153575434696e+000;
distortcoeff.push_back(tempdoub);
// Process images here (optional)
    Mat img_scene (current);
    if(!img_scene.data )
    { std::cout<< " --(!) Error reading images " << std::endl; return -1; }
    img_scene.convertTo(img_scene, CV_32FC2);
    cv::fisheye::undistortPoints(img_scene, img_scene, cammatrix, distortcoeff);

我得到这个错误：

OpenCV Error: Assertion failed (distorted.type() == CV_32FC2 || distorted.type() == CV_64FC2) in undistortPoints

不确定为什么会发生这种情况，因为在将其转换为CV_32FC2之前，我有.convertTo行。如果有人能帮我纠正这个错误，我将不胜感激！

Answer 1

undistortPoints（）函数检索未失真的像素位置，给定其在图像上的当前失真位置。即它在点上操作，而不是在图像上操作。使用fisheye:：undistortionImage作为图像。