matlab相机定标工具箱程序的算法原理.docVIP

? Camera Calibration Toolbox for Matlab Description of the calibration parameters After calibration, the list of parameters may be stored in the matab file Calib_Results by clicking on Save. The list of variables may be separated into two categories: Intrinsic parameters and extrinsic parameters. Intrinsic parameters (camera model): The internal camera model is very similar to that used by HYPERLINK http://www.ee.oulu.fi/~jth/ Heikkil伯a and HYPERLINK http://www.ee.oulu.fi/~olli/ Silven at the HYPERLINK http://www.ee.oulu.fi/ University of Oulu in Finland. Visit their online HYPERLINK http://www.ee.oulu.fi/~jth/calibr/Calibration.html calibration page, and their HYPERLINK http://www.ee.oulu.fi/~jth/doc/ publication page. We specifically recommend their CVPR97 paper: HYPERLINK /bouguetj/calib_doc/papers/heikkila97.pdf A Four-step Camera Calibration Procedure with Implicit Image Correction. The list of internal parameters: Focal length: The focal length in pixels is stored in the 2x1 vector fc. Principal point: The principal point coordinates are stored in the 2x1 vector cc. Skew coefficient: The skew coefficient defining the angle between the x and y pixel axes is stored in the scalar alpha_c. Distortions: The image distortion coefficients (radial and tangential distortions) are stored in the 5x1 vector kc四个内参，包括焦距fc，原点坐标cc，相机坐标系中x和y轴夹角alpha_c（接近90° 四个内参，包括焦距fc， 原点坐标cc， 相机坐标系中x和y轴夹角alpha_c（接近90°）， 几何畸变系数kc Definition of the intrinsic parameters: Let P be a point in space of coordinate vector XXc = [Xc;Yc;Zc] in the camera reference frame. Let us project now that point on the image plane according to the intrinsic parameters (fc,cc,alpha_c,kc). Let xn be the normalized (pinhole) image projection: ? Let r2 = x2 + y2. After including lens distortion, the new normalized point coordinate xd is defined as follows: where dx is the tangential distortion vector: ? Matlab中计算几何畸变还考虑了切向畸变 Matlab中计算几何畸变还考虑了切向畸变 Therefore, the 5-vector kc contains both radi