我正在尝试使用 cv2.projectPoints() 但出现错误

Question

这是错误：imgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist)cv2.error: OpenCV(4.2.0) C:\projects\opencv-python\opencv\modules\calib3d\src\calibration.cpp:603: error: (-5:Bad argument) Rotation must be represented by 1x3 or 3x1 floating-point rotation vector, or 3x3 rotation matrix in function 'cvProjectPoints2Internal'这是我的代码：axis = np.float32([[3, 0, 0], [0, 10, 0], [0, 0, -50]]).reshape(-1, 3)#axis of coordinates# PnP calculates the rotation vector and translation vectorrvecs, tvecs, inliers = cv2.solvePnP(obj_points, image_points, mtx, dist)print(f"mtx shape: {mtx.shape}, tvecs shape: {tvecs.shape}")print(f"mtx:\n {mtx}")print(f"tvecs:\n {tvecs}")# Calculate the coordinates of 3D points projected on 2D image planeimgpts, jac = cv2.projectPoints(axis, rvecs, tvecs, mtx, dist)这是输出：mtx shape: (3, 3), tvecs shape: (3, 1)mtx: [[1.71223579e+03 0.00000000e+00 1.02990683e+03] [ 0.00000000e+00 1.70818827e+03 7.83446773e+02] [ 0.00000000e+00 0.00000000e+00 1.00000000e+00]]tvecs: [[-0.09038089] [ -0.05386737] [ -0.01652085]]我不知道如何解决它。问题似乎出在论证的形式上。但当我检查时，它们的形状似乎正确。所以我不知道问题是什么，但如果你这样做的话会非常有帮助。

Answer 1

也许您正在尝试从旧教程中获取一些代码，或者您误读了有关返回值的函数文档。尝试像这样分配从solvePnP返回的值：

result, rvecs, tvecs = cv2.solvePnP(obj_points, image_points, mtx, dist)

solvePnP 函数中不应该有“内点”（至少从 opencv4 开始）。

Answer 2

尝试这个：

imagePoints, jacobian = cv.projectPoints(np.array(obj_points),
                        np.float32(rvec), np.float32(tvec),camera_matrix1, None)

组件的形状确实很重要，它对我有用。