使用Camera Calibrator APP对单目相机进行标定

最新推荐文章于 2024-02-24 22:35:22 发布

王不墨迹

最新推荐文章于 2024-02-24 22:35:22 发布

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本文链接：https://blog.csdn.net/qq_43120181/article/details/134869299

版权

实验准备

准备标定板图像作为标定物，此处使用calib.io网站（Camera Calibration Pattern Generator – calib.io）生成的checkerboard图像，规格为7*9，棋盘格尺寸为20

准备相机，此处使用PC自带相机
准备标定图像，此处使用IPad显示标定板图像，使用相机拍摄不同方向的标定板照片共20张

标定过程

在matlab中选择Camera Calibrator APP

导入图像并设置棋盘格的宽度为20
由于光线及拍摄原因，部分图像中棋盘格的数量识别出错，可用的图像共计13张

点击calibrate按钮进行标定

实验结果

Extrinsic Parameters Visualization
- camera-centric view

- pattern-centric view

Reprojection Errors

相机内参估计值Camera Intrinsics

相机外参估计值Camera Extrinsics
- Rotation Matrices:

val(:,:,1) =

    0.9987   -0.0122    0.0496
    0.0083    0.9969    0.0782
   -0.0504   -0.0777    0.9957


val(:,:,2) =

    0.9519    0.0484    0.3026
   -0.0464    0.9988   -0.0139
   -0.3029   -0.0008    0.9530


val(:,:,3) =

    0.9352   -0.3501    0.0530
    0.3504    0.9366    0.0054
   -0.0515    0.0135    0.9986


val(:,:,4) =

    0.9032    0.1725   -0.3930
   -0.1000    0.9750    0.1982
    0.4174   -0.1398    0.8979


val(:,:,5) =

    0.9070    0.0598   -0.4170
   -0.0180    0.9945    0.1036
    0.4209   -0.0865    0.9030


val(:,:,6) =

    0.9915   -0.0094    0.1299
    0.0032    0.9989    0.0478
   -0.1301   -0.0470    0.9904


val(:,:,7) =

    0.9824    0.1535    0.1061
   -0.1614    0.9844    0.0702
   -0.0937   -0.0861    0.9919

val(:,:,8) =

    0.9742   -0.2075    0.0890
    0.2055    0.9782    0.0302
   -0.0933   -0.0111    0.9956


val(:,:,9) =

    0.9899    0.0799    0.1174
   -0.0874    0.9944    0.0599
   -0.1119   -0.0695    0.9913


val(:,:,10) =

    0.9143   -0.2046    0.3496
    0.2421    0.9679   -0.0669
   -0.3247    0.1458    0.9345


val(:,:,11) =

    0.8366   -0.3250    0.4410
    0.4657    0.8459   -0.2601
   -0.2885    0.4229    0.8590


val(:,:,12) =

    0.9434   -0.3305   -0.0265
    0.3316    0.9413    0.0631
    0.0041   -0.0683    0.9977


val(:,:,13) =

    0.9609    0.2743   -0.0373
   -0.2434    0.9014    0.3582
    0.1319   -0.3351    0.9329

- Rotation Vectors

- Translation Vectors:

计算参数估计误差
- 内参估计误差

- 外参估计误差
  - 旋转向量估计误差

- - 平移向量估计误差

MATLAB代码

% Define images to process
imageFileNames = {'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_55_29_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_58_42_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_56_11_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_58_35_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_58_39_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_55_57_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_55_59_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_56_02_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_56_06_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_58_44_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_58_47_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_55_37_Pro.jpg',...
    'D:\Documents\NewWork\Codes\MATLAB\calibrationExp\Images\WIN_20231207_10_55_49_Pro.jpg',...
    };

% Detect checkerboards in images
[imagePoints, boardSize, imagesUsed] = detectCheckerboardPoints(imageFileNames);
imageFileNames = imageFileNames(imagesUsed);

% Generate world coordinates of the corners of the squares
squareSize = 20;  % in units of 'mm'
worldPoints = generateCheckerboardPoints(boardSize, squareSize);

% Calibrate the camera
[cameraParams, imagesUsed, estimationErrors] = estimateCameraParameters(imagePoints, worldPoints, ...
    'EstimateSkew', false, 'EstimateTangentialDistortion', false, ...
    'NumRadialDistortionCoefficients', 2, 'WorldUnits', 'mm', ...
    'InitialIntrinsicMatrix', [], 'InitialRadialDistortion', []);

% View reprojection errors
h1=figure; showReprojectionErrors(cameraParams, 'PatternCentric');

% Visualize pattern locations
h2=figure; showExtrinsics(cameraParams, 'CameraCentric');

% Display parameter estimation errors
displayErrors(estimationErrors, cameraParams);

% For example, you can use the calibration data to remove effects of lens distortion.
originalImage = imread(imageFileNames{1});
undistortedImage = undistortImage(originalImage, cameraParams);