像素坐标转世界坐标python函数
像素坐标转世界坐标python函数 基本工作原理： 1、通过相机标定求解内参矩阵 K 2、已知四个控制点求相机的位姿 R，t（P3P/PnP）（摄影测量中求解共共线方程一般采用的是直接线性变换（DLT），最少需要6对点） 3、本函数利用opencv的solvepnp函数，利用5对像素-世界坐标点求解出相机的R，t； 4、由像素坐标推世界坐标(Xc_1 +Δx * n , Yc_1 +Δy* n , Zc_1 +Δz * n)；Xc_1、Yc_1、Zc_1为z=1时，求解的世界坐标， Δx、Δy、Δz为z=2时求解的世界坐标与z=1求解的世界坐标的差值；（像素坐标转世界坐标得到的是一条直线） 5、在getPos函数中，需要根据坐标系提前确定高程值；默认地面是平行的；
20230809 添加了另一个版本的程序，该程序删除了利用点对，求相机外参的部分，改为手动输入
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