我有一个python脚本,使用calibratecamera2方法从棋盘的几个视图校准相机.校准成功后,我会检查所有原始点并做一些绘图并再次计算重新投影误差.令我惊讶的是,opencv和我计算的重投影错误有点不同.我发现它很奇怪.我是以错误的方式计算它的吗？
obj_points = []# 3d point in real world space. List of arrays img_points = []# 2d points in image plane. List of arrays ... ret,camera_matrix,dist_coeffs,rvecs,tvecs = cv2.calibrateCamera(obj_points,img_points,(w,h),tvecs,calib_flags +cv2.CALIB_USE_INTRINSIC_GUESS,criteria) print "Final reprojection error opencv: ",ret #Compute mean of reprojection error tot_mean_error=0 mean_error_image = 0 for i in xrange(len(obj_points)): reprojected_points,_ = cv2.projectPoints(obj_points[i],rvecs[i],tvecs[i],dist_coeffs) reprojected_points=reprojected_points.reshape(-1,2) mean_error_image=np.sum(np.sum(np.abs(img_points[i]-reprojected_points)**2,axis=-1)**(1./2))/np.alen(reprojected_points) tot_mean_error +=mean_error_image mean_error=tot_mean_error/len(obj_points) print "Mean reprojection error: ",mean_error@H_404_8@最终重投影错误opencv：0.571030279037
平均重投影错误：0.438696960449
最佳答案
我的计算错误/不同.我正在使用这种公式：
但opencv使用这个：
所以,如果有人感兴趣,代码现在看起来像：
#Compute mean of reprojection error tot_error=0 total_points=0 for i in xrange(len(obj_points)): reprojected_points,2) tot_error+=np.sum(np.abs(img_points[i]-reprojected_points)**2) total_points+=len(obj_points[i]) mean_error=np.sqrt(tot_error/total_points) print "Mean reprojection error: ",mean_error@H_404_8@最终重投影错误opencv：0.571030279037
平均重投影错误：0.571030718956