用粒子群优化做相机标定的python代码

下面是使用粒子群优化来进行相机标定的 Python 代码示例：

``` import numpy as np from scipy.optimize import minimize

def cost_function(params, points_2d, points_3d): fx, fy, cx, cy, k1, k2, p1, p2, k3 = params

# 将参数转换为内参矩阵
K =np.array([[fx, 0, cx],
              [0, fy, cy],
              [0, 0, 1]])

# 将参数转换为畸变系数
distortion = np.array([k1, k2, p1, p2, k3])

# 计算重投影误差
total_error = 0
for i in range</