本文详细探讨了相机标定的过程，包括相机的径向和切向畸变类型，以及如何利用OpenCV找到相机的内在和外在参数。通过至少10张棋盘图像进行校准，计算并修正畸变。介绍了cv.findChessboardCorners()等函数在寻找棋盘角点中的应用，并提到了cv.remap()和直接图像操作两种修正方法。重投影误差的计算能评估标定参数的准确性。
Camera Calibration
相机标定：从原理到应用
Learning from OpenCV
Goal 学习目标
In this section, we will learn about
- types of distortion caused by cameras
- how to find the intrinsic and extrinsic properties of a camera
- how to undistort images based on these properties
针对最常用–小孔成像相机model进行讨论
Basics 基础原理
Some pinhole cameras introduce significant distortion to images. Two major kinds of distortion are radial distortion（径向畸变） and tangential distortion（切向畸变）.
- Radial distortion causes straight lines to appear curved.使直线变得弯曲 Radial distortion becomes larger the farther points are from the center of the image.对于距离图像中心点越远的点径向畸变越为严重 For example, one image is shown below in which two edges of a chessboard are marked with red lines. But, you can see that the border of the chessboard is not a straight line and doesn’t match with the red line. All the expected straight lines are
bulged out鼓起来了.
光学径向形变 EN-Wikipedia
公式化表示如下：
x d i s t o r t e d = x ( 1 + k 1 r 2 + k 2 r 4 + k 3 r 6 ) y d i s t o r t e d = y ( 1 + k 1 r 2 + k 2 r 4 + k 3 r 6 ) x_{distorted} = x( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6) \\ y_{distorted} = y( 1 + k_1 r^2 + k_2 r^4 + k_3 r^6) xdistorted=x(1+k1r2+k2r4+k3r6)ydistorted=y(1+k1r2+k2
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