toolbox-calib工具箱calib-example.zip相机标定案例

% Intrinsic and Extrinsic Camera Parameters % % This script file can be directly excecuted under Matlab to recover the camera intrinsic and extrinsic parameters. % IMPORTANT: This file contains neither the structure of the calibration objects nor the image coordinates of the calibration points. % All those complementary variables are saved in the complete matlab data file Calib_Results.mat. % For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/ %-- Focal length: fc = [ 658.058361761203970 ; 658.640488683919900 ]; %-- Principal point: cc = [ 303.187975054125840 ; 241.952103080262960 ]; %-- Skew coefficient: alpha_c = 0.000000000000000; %-- Distortion coefficients: kc = [ -0.254215597843429 ; 0.122102815496739 ; -0.000186121226539 ; 0.000074635662955 ; 0.000000000000000 ]; %-- Focal length uncertainty: fc_error = [ 0.545708384764846 ; 0.554625224116518 ]; %-- Principal point uncertainty: cc_error = [ 1.108814315451605 ; 1.059994871387962 ]; %-- Skew coefficient uncertainty: alpha_c_error = 0.000000000000000; %-- Distortion coefficients uncertainty: kc_error = [ 0.004426014419110 ; 0.018095189194349 ; 0.000232684296990 ; 0.000230113923527 ; 0.000000000000000 ]; %-- Image size: nx = 640; ny = 480; %-- Various other variables (may be ignored if you do not use the Matlab Calibration Toolbox): %-- Those variables are used to control which intrinsic parameters should be optimized n_ima = 25; % Number of calibration images est_fc = [ 1 ; 1 ]; % Estimation indicator of the two focal variables est_aspect_ratio = 1; % Estimation indicator of the aspect ratio fc(2)/fc(1) center_optim = 1; % Estimation indicator of the principal point est_alpha = 0; % Estimation indicator of the skew coefficient est_dist = [ 1 ; 1 ; 1 ; 1 ; 0 ]; % Estimation indicator of the distortion coefficients %-- Extrinsic parameters: %-- The rotation (omc_kk) and the translation (Tc_kk) vectors for every calibration image and their uncertainties %-- Image #1: omc_1 = [ 1.654233e+00 ; 1.651330e+00 ; -6.700942e-01 ]; Tc_1 = [ -1.778454e+02 ; -8.306107e+01 ; 8.539180e+02 ]; omc_error_1 = [ 1.381030e-03 ; 1.712400e-03 ; 2.255479e-03 ]; Tc_error_1 = [ 1.440387e+00 ; 1.387973e+00 ; 7.551200e-01 ]; %-- Image #2: omc_2 = [ 1.848398e+00 ; 1.900028e+00 ; -3.975323e-01 ]; Tc_2 = [ -1.551771e+02 ; -1.587471e+02 ; 7.584721e+02 ]; omc_error_2 = [ 1.452872e-03 ; 1.719140e-03 ; 2.758353e-03 ]; Tc_error_2 = [ 1.286066e+00 ; 1.230422e+00 ; 7.342704e-01 ]; %-- Image #3: omc_3 = [ 1.741946e+00 ; 2.077027e+00 ; -5.059489e-01 ]; Tc_3 = [ -1.253875e+02 ; -1.739640e+02 ; 7.764112e+02 ]; omc_error_3 = [ 1.336580e-03 ; 1.821554e-03 ; 2.858760e-03 ]; Tc_error_3 = [ 1.314988e+00 ; 1.259216e+00 ; 7.010138e-01 ]; %-- Image #4: omc_4 = [ 1.827578e+00 ; 2.115821e+00 ; -1.103677e+00 ]; Tc_4 = [ -6.459720e+01 ; -1.542073e+02 ; 7.798609e+02 ]; omc_error_4 = [ 1.203939e-03 ; 1.876593e-03 ; 2.615868e-03 ]; Tc_error_4 = [ 1.325788e+00 ; 1.256550e+00 ; 5.613297e-01 ]; %-- Image #5: omc_5 = [ 1.080740e+00 ; 1.923999e+00 ; -2.524075e-01 ]; Tc_5 = [ -9.229587e+01 ; -2.287312e+02 ; 7.372802e+02 ]; omc_error_5 = [ 1.152510e-03 ; 1.722145e-03 ; 2.034998e-03 ]; Tc_error_5 = [ 1.261222e+00 ; 1.198338e+00 ; 6.851977e-01 ]; %-- Image #6: omc_6 = [ -1.701696e+00 ; -1.929621e+00 ; -7.913344e-01 ]; Tc_6 = [ -1.489884e+02 ; -7.925748e+01 ; 4.453043e+02 ]; omc_error_6 = [ 1.118697e-03 ; 1.744834e-03 ; 2.394800e-03 ]; Tc_error_6 = [ 7.571140e-01 ; 7.412161e-01 ; 6.062057e-01 ]; %-- Image #7: omc_7 = [ 1.996986e+00 ; 1.932203e+00 ; 1.310067e+00 ]; Tc_7 = [ -8.314869e+01 ; -7.735161e+01 ; 4.406728e+02 ]; omc_error_7 = [ 2.032070e-03 ; 1.097540e-03 ; 2.546667e-03 ]; Tc_error_7 = [ 7.612856e-01 ; 7.252912e-01 ; 6.244385e-01 ]; %-- Image #8: omc_8 = [ 1.961960e+00 ; 1.824944e+00 ; 1.325448e+00 ]; Tc_8 = [ -1.703988e+02 ; -1.031389e+02 ; 4.626461e+02 ]; omc_error_8 = [ 1.953525e-03 ; 1.125515e-03 ; 2.451839e-03 ]; Tc_error_8 = [ 8.320328e-01 ; 7.887218e-01 ; 7.049157e-01 ]; %-- Image #9: omc_9 = [ -1.364265e+00 ; -1.980790e+00 ; 3.217454e-01 ]; Tc_9 = [ -1.999591e+00 ; -2.244811e+02 ; 7.293237e+02 ]; omc_error_9 = [ 1.358902e-03 ; 1.737409e-03 ; 2.314383e-03 ]; Tc_error_9 = [ 1.246957e+00 ; 1.180757e+00 ; 7.179481e-01 ]; %-- Image #10: omc_10 = [ -1.513677e+00 ; -2.087029e+00 ; 1.895988e-01 ]; Tc_10 = [ -2.971182e+01 ; -2.996663e+02 ; 8.611333e+02 ]; omc_error_10 = [ 1.698608e-03 ; 2.039733e-03 ; 3.126257e-03 ]; Tc_error_10 = [ 1.498168e+00 ; 1.403175e+00 ; 9.654854e-01 ]; %-- Image #11: omc_11 = [ -1.793384e+00 ; -2.065359e+00 ; -4.796087e-01 ]; Tc_11 = [ -1.511838e+02 ; -2.347760e+02 ; 7.054567e+02 ]; omc_error_11 = [ 1.568147e-03 ; 1.924478e-03 ; 3.344356e-03 ]; Tc_error_11 = [ 1.227416e+00 ; 1.202984e+00 ; 9.886012e-01 ]; %-- Image #12: omc_12 = [ -1.839102e+00 ; -2.087661e+00 ; -5.154064e-01 ]; Tc_12 = [ -1.335966e+02 ; -1.767114e+02 ; 6.055302e+02 ]; omc_error_12 = [ 1.325538e-03 ; 1.824340e-03 ; 3.050246e-03 ]; Tc_error_12 = [ 1.045737e+00 ; 1.016716e+00 ; 8.237711e-01 ]; %-- Image #13: omc_13 = [ -1.918963e+00 ; -2.116969e+00 ; -5.941378e-01 ]; Tc_13 = [ -1.327937e+02 ; -1.431049e+02 ; 5.453337e+02 ]; omc_error_13 = [ 1.233506e-03 ; 1.796546e-03 ; 2.977782e-03 ]; Tc_error_13 = [ 9.394647e-01 ; 9.100127e-01 ; 7.438632e-01 ]; %-- Image #14: omc_14 = [ -1.954338e+00 ; -2.125004e+00 ; -5.846112e-01 ]; Tc_14 = [ -1.236863e+02 ; -1.367210e+02 ; 4.913292e+02 ]; omc_error_14 = [ 1.156651e-03 ; 1.754633e-03 ; 2.902957e-03 ]; Tc_error_14 = [ 8.477463e-01 ; 8.190262e-01 ; 6.650560e-01 ]; %-- Image #15: omc_15 = [ -2.110676e+00 ; -2.254055e+00 ; -4.954532e-01 ]; Tc_15 = [ -1.992372e+02 ; -1.340846e+02 ; 4.754106e+02 ]; omc_error_15 = [ 1.345053e-03 ; 1.667774e-03 ; 3.186338e-03 ]; Tc_error_15 = [ 8.317918e-01 ; 8.118881e-01 ; 7.129977e-01 ]; %-- Image #16: omc_16 = [ 1.886533e+00 ; 2.335779e+00 ; -1.745112e-01 ]; Tc_16 = [ -1.604709e+01 ; -1.697541e+02 ; 6.965120e+02 ]; omc_error_16 = [ 1.845897e-03 ; 1.922836e-03 ; 4.045048e-03 ]; Tc_error_16 = [ 1.183074e+00 ; 1.121256e+00 ; 8.261366e-01 ]; %-- Image #17: omc_17 = [ -1.613032e+00 ; -1.953671e+00 ; -3.473751e-01 ]; Tc_17 = [ -1.353158e+02 ; -1.385163e+02 ; 4.905281e+02 ]; omc_error_17 = [ 1.119844e-03 ; 1.656355e-03 ; 2.390919e-03 ]; Tc_error_17 = [ 8.358271e-01 ; 8.120539e-01 ; 5.873277e-01 ]; %-- Image #18: omc_18 = [ -1.342389e+00 ; -1.693092e+00 ; -2.968847e-01 ]; Tc_18 = [ -1.854864e+02 ; -1.573995e+02 ; 4.414586e+02 ]; omc_error_18 = [ 1.273691e-03 ; 1.585621e-03 ; 1.875217e-03 ]; Tc_error_18 = [ 7.589686e-01 ; 7.397369e-01 ; 5.601520e-01 ]; %-- Image #19: omc_19 = [ -1.926010e+00 ; -1.838413e+00 ; -1.439211e+00 ]; Tc_19 = [ -1.067612e+02 ; -7.929522e+01 ; 3.345324e+02 ]; omc_error_19 = [ 1.105644e-03 ; 1.905489e-03 ; 2.404650e-03 ]; Tc_error_19 = [ 5.905870e-01 ; 5.663190e-01 ; 5.183960e-01 ]; %-- Image #20: omc_20 = [ 1.896865e+00 ; 1.594277e+00 ; 1.471801e+00 ]; Tc_20 = [ -1.440784e+02 ; -8.757605e+01 ; 3.963778e+02 ]; omc_error_20 = [ 1.971472e-03 ; 1.140437e-03 ; 2.210020e-03 ]; Tc_error_20 = [ 7.195364e-01 ; 6.748702e-01 ; 6.209202e-01 ]; %-- Image #21: omc_21 = [ 1.929716e+00 ; 1.667922e+00 ; 1.441136e+00 ]; Tc_21 = [ -8.344657e+01 ; -8.449604e+01 ; 4.068576e+02 ]; omc_error_21 = [ 2.010327e-03 ; 1.170771e-03 ; 2.287955e-03 ]; Tc_error_21 = [ 7.126171e-01 ; 6.734254e-01 ; 6.012590e-01 ]; %-- Image #22: omc_22 = [ 2.106024e+00 ; 1.698122e+00 ; 6.984260e-01 ]; Tc_22 = [ -2.013241e+02 ; -1.439837e+02 ; 5.438294e+02 ]; omc_error_22 = [ 1.725605e-03 ; 1.245092e-03 ; 2.756168e-03 ]; Tc_error_22 = [ 9.798424e-01 ; 9.077257e-01 ; 8.020578e-01 ]; %-- Image #23: omc_23 = [ -1.364578e+00 ; -1.714992e+00 ; -1.442531e-01 ]; Tc_23 = [ -1.633224e+02 ; -1.