使用Python转换OpenCV triangulatePoints输出以用于透视变换

cv2.triangulatePoints的输出指定为齐次坐标中重建点的4xN数组

我想将此输出用作cv2.perspectiveTransform的src数组输入。src被指定为两通道或三通道浮点数组

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操作triangulatePoints输出数组以使其适合perspectiveTransform的正确方法是什么？

这帮助我找到了答案：

下面是我如何实现它的：

    Tpoints1 = cv2.triangulatePoints(P_1, P_2, normRshp1, normRshp2)         
    #Grab the first three columns from the results to make a 3-N array
    Tpt1 = np.array([Tpoints1[0],Tpoints1[1],Tpoints1[2]])
    #Reshape to make a N-3 array
    Tpt1 = Tpt1.reshape(-1,3)
    #Make an array from the array resulting in [1,N,3]
    Tpt1 = np.array([Tpt1])
    #Reshape camera matrix to a 4x4 for input into perspectiveTransform 
    #we'll just add zeros and a one to the last row.
    # from the TestTriangualtion function @, 
    #https://github.com/MasteringOpenCV/code/blob/master/Chapter4_StructureFromMotion/FindCameraMatrices.cpp
    P_24x4 = resize(P_2,(4,4))
    P_24x4[3,0] = 0
    P_24x4[3,1] = 0
    P_24x4[3,2] = 0
    P_24x4[3,3] = 1 
    Tpoints1_projected = cv2.perspectiveTransform(Tpt1, P_24x4)