indexs = [0, 1, 3, 2]
cube_points = [(-100, 100, -100), (-100, -100, -100), (100, 100, -100), (100, -100, -100), (100, 100, 100), (100, -100, 100), (-100, 100, 100), (-100, -100, 100)]
# 测量值列表
measured_points = []
quaternions = []
for i in range(200):
temp = []
for index in indexs:
pos = getImagePosition(cube_points[index][0], cube_points[index][1], cube_points[index][2], 0, 0, i, 0)
# 相机坐标系转换到图像坐标系
x, y = fromCameraToImage(pos[0], pos[1], pos[2])
# temp.append((x, y))
temp.append([x + 0.01*np.random.randn()])
temp.append([y + 0.01*np.random.randn()])
quaternions.append(getQuaternion(0, 0, -i))
measured_points.append(temp)
# 验证坐标是否正确
# for i in range(200):
# prefix = "/Users/apple/Desktop/test/img4/"
# filename = "img" + "0" * (4 - len(str(i))) + str(i) + ".jpg"
#
# img = cv2.imread(prefix + filename)
# result = []
# for p in measured_points[i]:
# result.append((fromImageToPixel(p[0], p[1])))
# drawPoint(img, result)
# cv2.imwrite("test/" + filename, img)
# 测量值列表
measured_points = []
quaternions = []
for i in range(180):
temp = []
for index in indexs:
pos = getImagePosition2(cube_points[index][0],
cube_points[index][1],
cube_points[index][2], 0, 0, i)
# 相机坐标系转换到图像坐标系
x, y = fromCameraToImage(pos[0], pos[1], pos[2])
# temp.append((x, y))
temp.append([x])
temp.append([y])
quaternions.append(getQuaternion(-45, 0, -i))
measured_points.append(temp)
# 验证坐标是否正确
# for i in range(180):
# prefix = "/Users/apple/Desktop/test/img/"
# filename = "img" + "0" * (4 - len(str(i))) + str(i) + ".jpg"
#
# img = cv2.imread(prefix + filename)
# result = []
# for p in measured_points[i]:
# result.append((fromImageToPixel(p[0], p[1])))
# drawPoint(img, result)
# cv2.imwrite("test/" + filename, img)
# 估计值列表