张正友标定法OpenCV初步实现（一）

一、准备标定图片

二、对每张图片进行亚像素角点提取

 三、相机标定

1、相机内参矩阵cameraMatrix：

[520.5189923428055, 0, 275.972030610717;  0, 518.2570945307726, 225.1116070146119;  0, 0, 1]

2、相机的畸变矩阵disCoeffs:

[0.01604688114011576, -0.3812464718356848, -0.0005876486382957926, -0.01491974640050634, 2.496099422286094]

3、每幅图像的旋转矩阵和平移向量

	Rotation Vector	Translation vector
第1幅图像	[2.062166799336536, 2.046466448851113, 0.4654782002074748]	[-71.47683790567474, -101.9706936391247, 382.5594364527998]
第2幅图像	[2.096561996981519, 2.084553714534901, 0.3986216129863885]	[-58.96642401151848, -101.9675670724934, 390.0604683514445]
第3幅图像	[2.131623557733366, 2.123106997509431, 0.3342055590774149]	[-70.37294230090455, -104.7583585127669, 401.554847234543]
第4幅图像	[2.162254973346945, 2.158978000304514, 0.2712941400091649]	[-74.79411365873302, -105.9212478303905, 419.7100803389672]