OpenCV的捆绑调整

Question

我试图使用OpenCV的捆绑调整：LevMarqSparse :: bundleAdjust 不幸的是，输出似乎完全错误：

Iteration: 0, normError: 4.30244e+46 (3.64614e+44) 
decreasing lambda to 0.024556 
Iteration: 1, normError: 2.72985e+31 (2.31343e+29) 
decreasing lambda to 0.0024556 
Iteration: 2, normError: 8.00302e+25 (6.78222e+23) 
move failed: lambda = 0.024556, e2 = 2.62043e+40 (2.2207e+38) > 8.00302e+25(6.78222e+23) 
move failed: lambda = 0.24556, e2 = 7.31034e+40 (6.1952e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556, e2 = 1.59706e+40 (1.35344e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 24.556, e2 = 1.33882e+40 (1.13459e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 245.56, e2 = 1.31518e+40 (1.11456e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2455.6, e2 = 1.31283e+40 (1.11257e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 24556, e2 = 1.3126e+40 (1.11237e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 245560, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+06, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+07, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+08, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+09, e2 = 1.31257e+40 (1.11235e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+10, e2 = 1.3125e+40 (1.11229e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+11, e2 = 1.31102e+40 (1.11103e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+12, e2 = 1.3103e+40 (1.11042e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+13, e2 = 1.31471e+40 (1.11416e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+14, e2 = 1.29156e+40 (1.09454e+38) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+15, e2 = 1.15709e+40 (9.80585e+37) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+16, e2 = 3.81423e+39 (3.2324e+37) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+17, e2 = 6.59182e+36 (5.58629e+34) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+18, e2 = 8.07694e+34 (6.84487e+32) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+19, e2 = 7.73149e+52 (6.55211e+50) > 8.00302e+25 (6.78222e+23) 
move failed: lambda = 2.4556e+20, e2 = 2.061e+40 (1.74661e+38) > 8.00302e+25 (6.78222e+23) 
decreasing lambda to 2.4556e+19 

如果我手动重新投影我的第一个猜测我的关键点，我收到了总（总和）每个关键点与其三角点的重投影之间的欧几里得距离（以像素为单位）（误差）为169.541 。 在调用LevMarqSparse :: bundleAdjust之后进行相同的错误检查会导致5.50025e + 12的错误。

有人能请我指出正确的方向吗？谢谢。

Answer 1

一般来说，当这样的事情与束调整发生下列错误至少一个很可能：

1. 的2D投影不是3D点正确的，使一个三维点被重新投影到错误的2D投影上，因此重投影误差将非常大。 2D投影和3D点之间的索引可能已经发生了变化。
2. 您使用的相机不在OpenCV所要求的相同坐标系中。想象一下旋转约180°或反向运动，3D点将投影在某处，但肯定不在正确的2D位置。所以，也许尝试拍摄反相机矩阵。如果P是4×4均匀投影矩阵之一，则用P.inv（）代替P.

这将有助于获得平均重投影误差。这个总和并不是很有意义，因为我们不知道你在重建中有多少3D点和2D投影。