cv2.solvePnP简单来说就是使用世界坐标系k个点坐标，对应图像坐标系2D的k个点坐标，以及相机内参projection和distortion进行反推图片的外参r,t

找了很久才找到参数应当是怎样的形式，opencv官方文档https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html

retval,rvec,tvec = cv.solvePnP(objPoints,imgPoints,cameraMatrix,distCoeffs)
objPoints：N*3或者3*N的世界坐标系点坐标
imagePoints：N*2或者2*N的图像坐标系点的对应坐标
cameraMatrix,distCoeffs：相机的projection和distortion，通过多张图片标定得到

objPoints比如这样，一个numpy数组，对应点的世界坐标：

如果数据格式不对，进行相应调整即可

# python
GitHub 加速计划 / opencv31 / opencv
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OpenCV: 开源计算机视觉库
最近提交(Master分支：3 个月前 )
d9a139f9 Animated WebP Support #25608 related issues #24855 #22569 ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [x] The PR is proposed to the proper branch - [x] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake 1 天前
09030615 V4l default image size #25500 Added ability to set default image width and height for V4L capture. This is required for cameras that does not support 640x480 resolution because otherwise V4L capture cannot be opened and failed with "Pixel format of incoming image is unsupported by OpenCV" and then with "can't open camera by index" message. Because of the videoio architecture it is not possible to insert actions between CvCaptureCAM_V4L::CvCaptureCAM_V4L and CvCaptureCAM_V4L::open so the only way I found is to use environment variables to preselect the resolution. Related bug report is [#25499](https://github.com/opencv/opencv/issues/25499) Maybe (but not confirmed) this is also related to [#24551](https://github.com/opencv/opencv/issues/24551) This fix was made and verified in my local environment: capture board AVMATRIX VC42, Ubuntu 20, NVidia Jetson Orin. ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [X] I agree to contribute to the project under Apache 2 License. - [X] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [X] The PR is proposed to the proper branch - [X] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake 1 天前
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