2021-09-26 相机模型下SLAM OPENCV MATLAB间格式转换

各类参数介绍

SLAM有fx,fy,cx,cy,k1,k2,k3,p1,p2,resolution_height,resolution_width

MATLAB

有FocalLength,PrincipalPoint,RadialDistortion,TangentialDistortion,IntrinsicMatrix

OPENCV

calibrateCamera函数的返回值有ret, mtx, dist, rvecs, tvecs
mtx为内参矩阵
dist为畸变参数

SLAM与MATLAB的转换

fx,fy=FocalLength
cx,cy=PrincipalPoint
k1,k2,k3=RadialDistortion
p1,p2=TangentialDistortion
IntrinsicMatrix=
[[fx, 0, 0],
 [0, fy, 0],
 [cx,cy, 1]]

SLAM与OPENCV的转换

mtx=
[[fx, 0, 0],
 [0, fy, 0],
 [cx,cy, 1]]
dist=[k1,k2,p1,p2,k3]