OpenCV ProjectPoints继续绘制屏幕左上方的所有图像点

Question

我正在尝试通过OPENCV ProjectPoints函数在校准后通过OpenCV ProjectPoints函数投射3D（X，Y，Z）轴，但是每次运行代码时，轴都会指向屏幕上的特定投影图像点。 示例输出图像

cameramatrix和distCoeffs和distCoeffs读取在校准期间写入文件的数据中。它们是：

CameraMatrix[1372.852997982289, 0, 554.2708806543288;
 0, 1372.852997982289, 906.4327368600385;
 0, 0, 1]
distCoeff[0.02839203221556521;
 0.442572399014994;
 -0.01755006951285373;
 -0.0008989327508155589;
 -1.836490953232962]

每次通过按键打开布尔时，旋转和翻译值都会通过solvepnp实时计算。其输出值的一个示例是：

R = 
 [-0.9065211432378315;
 0.3787201875924527;
 -0.2788943269946833]

T = 
 [-0.4433059282649063;
 -0.6745750872705997;
 1.13753594660495]

在计算solvePNP时，我按另一个按键按照下面的代码中写入的原点绘制3D轴。旋转和翻译值将传递到项目点函数中。但是，每个轴的axesprodentpoints图像点始终非常相似，并且在以下范围内，

[100.932, 127.418]
[55.154, 157.192]
[70.3054, 162.585]

• 请注意，axesprojectivepoints以vector＆lt; point2f＆gt; gt; axesprojectightpoints

重新投影错误相当好，在1像素下。

项目点代码：

if (found) {
    // read calibration data -- function that reads calibration data saved to a file
    readCameraConfig(cameraMatrix, distCoeffs);

    // draw corners
    drawChessboardCorners(convertedImage, patternsize, corners, found);

    // draw 3D axes using projectPoints
    // used 0.04 because the chessboard square is 0.01778 m
    std::vector<Point3f> axis;
    axis.push_back(cv::Point3f(0.04, 0, 0));
    axis.push_back(cv::Point3f(0, 0.04, 0));
    axis.push_back(cv::Point3f(0, 0, 0.04));

    // the rotation_values and translation values are outputs from the openCV solvePnp function that is being computed separately in real-time every time i press a keypress 
    projectPoints(axis, rotation_values, translation_values, cameraMatrix, distCoeffs, axesProjectedPoints);

    cout << "image points" << endl;
    for (auto &n : axesProjectedPoints) {
        cout << n << endl;
    }

    cv::line(convertedImage, corners[0], axesProjectedPoints[0], {255,0,0}, 5);
    cv::line(convertedImage, corners[0], axesProjectedPoints[1], {0,255,0}, 5);
    cv::line(convertedImage, corners[0], axesProjectedPoints[2], {0,0,255}, 5);
}

代码的solvePNP部分：

/* calculate board's pose (rotation and translation) */
bool flag = false;
if (flag) {
    printf("Calculating board's pose (rotation and translation) ...\n");
    // read calibration data
    readCameraConfig(cameraMatrix, distCoeffs);


    // create undistorted corners or image points
    undistortPoints(corners, imagePoints, cameraMatrix, distCoeffs);


    //cout << "POINTS" << endl;
    std::vector<Point3d> objp;
    for(auto &i : points) {
        objp.push_back(i);
        //cout << i << endl;
    }

    //cout << "CORNERS" << endl;
    std::vector<Point2d> imagep;
    for(auto &j : imagePoints) {
        imagep.push_back(j);
        //cout << j << endl;
    }

    cout << "point size" << endl;
    cout << objp.size() << endl;

    // calculate pose
    solvePnP(objp, imagep, cameraMatrix, distCoeffs, rotation_values, translation_values, true, SOLVEPNP_ITERATIVE);


    // print rotation and translation values
    cout << "R = " << endl << " "  << rotation_values << endl << endl;
    cout << "T = " << endl << " "  << translation_values << endl << endl;
            
    }

    
}