走一遍ComputerVisionToolbox的相机标定和3D视觉

Camera Calibration and 3D Vision 之 Calibration

函数名	函数说明
---------------	对象
cameraParameters	Object for storing camera parameters
stereoParameters	Object for storing stereo camera system parameters
---------------	角点检测、世界点生成
generateCheckerboardPoints	Generate checkerboard corner locations
detectCheckerboardPoints	Detect checkerboard pattern in image
---------------	标定
estimateCameraParameters	Calibrate a single or stereo camera
---------------	投影矩阵
cameraMatrix	Camera projection matrix
estimateCameraMatrix	Estimate camera projection matrix from world-to-image point correspondences
---------------	外参
extrinsics	Compute location of calibrated camera
extrinsicsToCameraPose	Convert extrinsics to camera pose
cameraPoseToExtrinsics	Convert camera pose to extrinsics
---------------	相对位置
estimateWorldCameraPose	Estimate camera pose from 3-D to 2-D point correspondences
relativeCameraPose	Compute relative rotation and translation between camera poses
estimateEssentialMatrix	Estimate essential matrix from corresponding points in a pair of images
estimateFundamentalMatrix	Estimate fundamental matrix from corresponding points in stereo images
---------------	畸变处理
undistortImage	Correct image for lens distortion
rectifyStereoImages	Rectify a pair of stereo images
---------------	Rodrigues变换
rotationMatrixToVector	Convert 3-D rotation matrix to rotation vector
rotationVectorToMatrix	Convert 3-D rotation vector to rotation matrix

|triangulate| 3-D locations of undistorted matching points in stereo images|

对象：

cameraParameters：包含内参外参和畸变参数
stereoParameters:大菜来了包含两个相机的内参和外参，以及之间的几何关系
CameraParameters1，CameraParameters2 ，RotationOfCamera2：相机2相对于相机1的旋转矩阵，TranslationOfCamera2：相机2相对于相机1的平移矩阵，
FundamentalMatrix：基础矩阵,两图像像素的对应关系： [ P 2 , 1 ] ∗ F u n d a m e n t a l M a t r i x ∗ [ P 1 , 1 ] ′ = 0 [P_2,1]∗FundamentalMatrix∗[P_1,1]′=0 [P2​,1]∗FundamentalMatrix∗[P