立体标定图片

% 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 = [ 725.327873398469020 ; 731.132239257151470 ];

%-- Principal point:
cc = [ 283.168414889624500 ; 250.975765883186060 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;

%-- Distortion coefficients:
kc = [ -0.131846210874677 ; 0.234935145635576 ; 0.000031460487175 ; -0.002285477971716 ; 0.000000000000000 ];

%-- Focal length uncertainty:
fc_error = [ 21.972051594912589 ; 23.412800167731188 ];

%-- Principal point uncertainty:
cc_error = [ 14.322907109484234 ; 6.794319929933228 ];

%-- Skew coefficient uncertainty:
alpha_c_error = 0.000000000000000;

%-- Distortion coefficients uncertainty:
kc_error = [ 0.024554243083354 ; 0.076681897843071 ; 0.002014518274565 ; 0.002792839412005 ; 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 = 7;                        % 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 = [ -1.903278e+000 ; -1.907532e+000 ; 2.587681e-001 ];
Tc_1  = [ -9.730447e+001 ; -9.430882e+001 ; 3.991814e+002 ];
omc_error_1 = [ 1.055221e-002 ; 1.195899e-002 ; 1.266965e-002 ];
Tc_error_1  = [ 7.647865e+000 ; 3.735763e+000 ; 1.235698e+001 ];

%-- Image #2:
omc_2 = [ NaN ; NaN ; NaN ];
Tc_2  = [ NaN ; NaN ; NaN ];
omc_error_2 = [ NaN ; NaN ; NaN ];
Tc_error_2  = [ NaN ; NaN ; NaN ];

%-- Image #3:
omc_3 = [ -2.051697e+000 ; -2.036610e+000 ; 7.810080e-002 ];
Tc_3  = [ -1.044801e+002 ; -9.447780e+001 ; 3.555271e+002 ];
omc_error_3 = [ 7.781920e-003 ; 9.344307e-003 ; 1.173664e-002 ];
Tc_error_3  = [ 6.834621e+000 ; 3.381807e+000 ; 1.136986e+001 ];

%-- Image #4:
omc_4 = [ NaN ; NaN ; NaN ];
Tc_4  = [ NaN ; NaN ; NaN ];
omc_error_4 = [ NaN ; NaN ; NaN ];
Tc_error_4  = [ NaN ; NaN ; NaN ];

%-- Image #5:
omc_5 = [ -2.043131e+000 ; -2.014482e+000 ; 3.648394e-002 ];
Tc_5  = [ -1.036660e+002 ; -8.900522e+001 ; 3.789114e+002 ];
omc_error_5 = [ 8.100555e-003 ; 1.033715e-002 ; 1.211515e-002 ];
Tc_error_5  = [ 7.311691e+000 ; 3.613688e+000 ; 1.215103e+001 ];

%-- Image #6:
omc_6 = [ NaN ; NaN ; NaN ];
Tc_6  = [ NaN ; NaN ; NaN ];
omc_error_6 = [ NaN ; NaN ; NaN ];
Tc_error_6  = [ NaN ; NaN ; NaN ];

%-- Image #7:
omc_7 = [ -1.987408e+000 ; -1.952376e+000 ; 1.162405e-001 ];
Tc_7  = [ -1.130560e+002 ; -8.817766e+001 ; 3.721161e+002 ];
omc_error_7 = [ 9.316609e-003 ; 1.131826e-002 ; 1.177845e-002 ];
Tc_error_7  = [ 7.084541e+000 ; 3.534071e+000 ; 1.186453e+001 ];