matlab标定相机内参-Toy模板网

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一、获取单目针孔相机数据

在APP中选择Camera Calibrator，如下：
matlab标定相机内参
点击 Add Images，导入拍照图片。标定20张左右就够了，然后角度变一下，但不需要变太大，太大了会影响标定效果。标定板最好在视场中心，且占据较大面积。

修改棋盘格大小为27*27mm（我的A4纸测量是这样）
matlab标定相机内参
对于标准相机，菜单栏的option里选择三阶径向畸变和斜切：

而鱼眼相机，选择

点击Calibrate，进行相机标定：
右上角是重建平均误差，只要平均误差小于0.5，就可以认为这是相机标定的结果是可靠的。这里太大了哈哈哈：
matlab标定相机内参把相机参数导出来，点击 Export Camera Parameters。点击确定，就可以看到matlab工作区出现了相机参数。点开这个参数，就可以得到相机的各个参数：

ImageSize：图像大小
Radial Distortion：径向畸变
Tangential Distortion：切向畸变
World Points：世界坐标系下的点
World Units：世界坐标下的单位
Estimate Skew：估计倾斜
Num Radial Distortion Coefficient：径向畸变系数个数
Estimate Tangential Distortion：估计切向畸变
Translation Vectors：平移向量
Reprojection Errors：重投影误差
Detected Keypoints：检测到的关键点
Rotation Vectors：旋转向量
Num Patterns：模态数
Intrinsics：内参
Intrinsic Matrix：内参矩阵
Focal Length：焦距
Principal Point：主点偏移
Skew：偏斜
Mean Reprojection Error：平均重投影误差
Reprojected Points：重投影点
Rotation Matrices：旋转矩阵
结果如下：

二、制作单目相机yaml文件

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 1715.3730
Camera.fy: 1702.5771
Camera.cx: 1129.8076
Camera.cy: 642.5709

Camera.k1: 0.02724
Camera.k2: -0.097636
Camera.k3: 0.10436
Camera.p1: 0.0000127185
Camera.p2: -0.001243

# Camera frames per second 
Camera.fps: 30.0

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 0

# Camera resolution
Camera.width: 640
Camera.height: 480

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

# ORB Extractor: Scale factor between levels in the scale pyramid 	
ORBextractor.scaleFactor: 1.2

# ORB Extractor: Number of levels in the scale pyramid	
ORBextractor.nLevels: 8

# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast			
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 5
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

三、获取鱼眼相机数据

参考链接。拍照同上。区别在这里
matlab标定相机内参
camera model 选择 fisheye, estimate alignment 选择勾，因为官网解释说

Estimate the axes alignment, specified as the comma-separated pair consisting of ‘EstimateAlignment’ and false or true. Set to true if the optical axis of the fisheye lens is not perpendicular to the image plane.
估计坐标轴的对齐，指定为逗号分隔的一对，由’EstimateAlignment’和false或true组成。如果鱼眼镜头的光轴不垂直于像平面，则设置为true。

计算结果cameraParams中查看Intrinsics
matlab标定相机内参
Mapping Coefficients: 映射系数, $\left[ \begin{matrix} {{a}_{0}} & {{a}_{2}} & {{a}_{3}} & {{a}_{4}} \end{matrix} \right]$ , ${{a}_{1}}=1$
Image Size: 图像大小
Distortion Center: 畸变中心
Stretch Matrix: 拉伸变换, $\left[ \begin{matrix} c & d \\ e & 1 \\\end{matrix} \right]$ 文章来源地址https://www.toymoban.com/news/detail-450466.html