1-标定源码（Opencv自带）
采用OPENCV自带相机相机标定源代码（棋盘法）
#include "opencv2/core.hpp"
#include <opencv2/core/utility.hpp>
#include "opencv2/imgproc.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/videoio.hpp"
#include "opencv2/highgui.hpp"
#include <cctype>
#include <stdio.h>
#include <string.h>
#include <time.h>
#include <iostream>
#pragma warning( disable : 4996 )
using namespace cv;
using namespace std;
const char* usage =
" \nexample command line for calibration from a live feed.\n"
" calibration -w=4 -h=5 -s=0.025 -o=camera.yml -op -oe\n"
" \n"
" example command line for calibration from a list of stored images:\n"
" imagelist_creator image_list.xml *.png\n"
" calibration -w=4 -h=5 -s=0.025 -o=camera.yml -op -oe image_list.xml\n"
" where image_list.xml is the standard OpenCV XML/YAML\n"
" use imagelist_creator to create the xml or yaml list\n"
" file consisting of the list of strings, e.g.:\n"
" \n"
"<?xml version=\"1.0\"?>\n"
"<opencv_storage>\n"
"<images>\n"
"view000.png\n"
"view001.png\n"
"<!-- view002.png -->\n"
"view003.png\n"
"view010.png\n"
"one_extra_view.jpg\n"
"</images>\n"
"</opencv_storage>\n";
const char* liveCaptureHelp =
"When the live video from camera is used as input, the following hot-keys may be used:\n"
" <ESC>, 'q' - quit the program\n"
" 'g' - start capturing images\n"
" 'u' - switch undistortion on/off\n";
static void help(char** argv)
{
printf("This is a camera calibration sample.\n"
"Usage: %s\n"
" -w=<board_width> # the number of inner corners per one of board dimension\n"
" -h=<board_height> # the number of inner corners per another board dimension\n"
" [-pt=<pattern>] # the type of pattern: chessboard or circles' grid\n"
" [-n=<number_of_frames>] # the number of frames to use for calibration\n"
" # (if not specified, it will be set to the number\n"
" # of board views actually available)\n"
" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
" # (used only for video capturing)\n"
" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
" [-op] # write detected feature points\n"
" [-oe] # write extrinsic parameters\n"
" [-oo] # write refined 3D object points\n"
" [-zt] # assume zero tangential distortion\n"
" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-V] # use a video file, and not an image list, uses\n"
" # [input_data] string for the video file name\n"
" [-su] # show undistorted images after calibration\n"
" [-ws=<number_of_pixel>] # Half of search window for cornerSubPix (11 by default)\n"
" [-dt=<distance>] # actual distance between top-left and top-right corners of\n"
" # the calibration grid. If this parameter is specified, a more\n"
" # accurate calibration method will be used which may be better\n"
" # with inaccurate, roughly planar target.\n"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # the text file can be generated with imagelist_creator\n"
" # - name of video file with a video of the board\n"
" # if input_data not specified, a live view from the camera is used\n"
"\n", argv[0]);
printf("\n%s", usage);
printf("\n%s", liveCaptureHelp);
}
enum { DETECTION = 0, CAPTURING = 1, CALIBRATED = 2 };
enum Pattern { CHESSBOARD, CIRCLES_GRID, ASYMMETRIC_CIRCLES_GRID };
static double computeReprojectionErrors(
const vector<vector<Point3f> >& objectPoints,
const vector<vector<Point2f> >& imagePoints,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const Mat& cameraMatrix, const Mat& distCoeffs,
vector<float>& perViewErrors)
{
vector<Point2f> imagePoints2;
int i, totalPoints = 0;
double totalErr = 0, err;
perViewErrors.resize(objectPoints.size());
for (i = 0; i < (int)objectPoints.size(); i++)
{
projectPoints(Mat(objectPoints[i]), rvecs[i], tvecs[i],
cameraMatrix, distCoeffs, imagePoints2);
err = norm(Mat(imagePoints[i]), Mat(imagePoints2), NORM_L2);
int n = (int)objectPoints[i].size();
perViewErrors[i] = (float)std::sqrt(err * err / n);
totalErr += err * err;
totalPoints += n;
}
return std::sqrt(totalErr / totalPoints);
}
static void calcChessboardCorners(Size boardSize, float squareSize, vector<Point3f>& corners, Pattern patternType = CHESSBOARD)
{
corners.resize(0);
switch (patternType)
{
case CHESSBOARD:
case CIRCLES_GRID:
for (int i = 0; i < boardSize.height; i++)
for (int j = 0; j < boardSize.width; j++)
corners.push_back(Point3f(float(j * squareSize),
float(i * squareSize), 0));
break;
case ASYMMETRIC_CIRCLES_GRID:
for (int i = 0; i < boardSize.height; i++)
for (int j = 0; j < boardSize.width; j++)
corners.push_back(Point3f(float((2 * j + i % 2) * squareSize),
float(i * squareSize), 0));
break;
default:
CV_Error(Error::StsBadArg, "Unknown pattern type\n");
}
}
static bool runCalibration(vector<vector<Point2f> > imagePoints,
Size imageSize, Size boardSize, Pattern patternType,
float squareSize, float aspectRatio,
float grid_width, bool release_object,
int flags, Mat& cameraMatrix, Mat& distCoeffs,
vector<Mat>& rvecs, vector<Mat>& tvecs,
vector<float>& reprojErrs,
vector<Point3f>& newObjPoints,
double& totalAvgErr)
{
cameraMatrix = Mat::eye(3, 3, CV_64F);
if (flags & CALIB_FIX_ASPECT_RATIO)
cameraMatrix.at<double>(0, 0) = aspectRatio;
distCoeffs = Mat::zeros(8, 1, CV_64F);
vector<vector<Point3f> > objectPoints(1);
calcChessboardCorners(boardSize, squareSize, objectPoints[0], patternType);
objectPoints[0][boardSize.width - 1].x = objectPoints[0][0].x + grid_width;
newObjPoints = objectPoints[0];
objectPoints.resize(imagePoints.size(), objectPoints[0]);
double rms;
int iFixedPoint = -1;
if (release_object)
iFixedPoint = boardSize.width - 1;
rms = calibrateCameraRO(objectPoints, imagePoints, imageSize, iFixedPoint,
cameraMatrix, distCoeffs, rvecs, tvecs, newObjPoints,
flags | CALIB_FIX_K3 | CALIB_USE_LU);
printf("RMS error reported by calibrateCamera: %g\n", rms);
bool ok = checkRange(cameraMatrix) && checkRange(distCoeffs);
if (release_object) {
cout << "New board corners: " << endl;
cout << newObjPoints[0] << endl;
cout << newObjPoints[boardSize.width - 1] << endl;
cout << newObjPoints[boardSize.width * (boardSize.height - 1)] << endl;
cout << newObjPoints.back() << endl;
}
objectPoints.clear();
objectPoints.resize(imagePoints.size(), newObjPoints);
totalAvgErr = computeReprojectionErrors(objectPoints, imagePoints,
rvecs, tvecs, cameraMatrix, distCoeffs, reprojErrs);
return ok;
}
static void saveCameraParams(const string& filename,
Size imageSize, Size boardSize,
float squareSize, float aspectRatio, int flags,
const Mat& cameraMatrix, const Mat& distCoeffs,
const vector<Mat>& rvecs, const vector<Mat>& tvecs,
const vector<float>& reprojErrs,
const vector<vector<Point2f> >& imagePoints,
const vector<Point3f>& newObjPoints,
double totalAvgErr)
{
FileStorage fs(filename, FileStorage::WRITE);
time_t tt;
time(&tt);
struct tm* t2 = localtime(&tt);
char buf[1024];
strftime(buf, sizeof(buf) - 1, "%c", t2);
fs << "calibration_time" << buf;
if (!rvecs.empty() || !reprojErrs.empty())
fs << "nframes" << (int)std::max(rvecs.size(), reprojErrs.size());
fs << "image_width" << imageSize.width;
fs << "image_height" << imageSize.height;
fs << "board_width" << boardSize.width;
fs << "board_height" << boardSize.height;
fs << "square_size" << squareSize;
if (flags & CALIB_FIX_ASPECT_RATIO)
fs << "aspectRatio" << aspectRatio;
if (flags != 0)
{
sprintf_s(buf, "flags: %s%s%s%s",
flags & CALIB_USE_INTRINSIC_GUESS ? "+use_intrinsic_guess" : "",
flags & CALIB_FIX_ASPECT_RATIO ? "+fix_aspectRatio" : "",
flags & CALIB_FIX_PRINCIPAL_POINT ? "+fix_principal_point" : "",
flags & CALIB_ZERO_TANGENT_DIST ? "+zero_tangent_dist" : "");
//cvWriteComment( *fs, buf, 0 );
}
fs << "flags" << flags;
fs << "camera_matrix" << cameraMatrix;
fs << "distortion_coefficients" << distCoeffs;
fs << "avg_reprojection_error" << totalAvgErr;
if (!reprojErrs.empty())
fs << "per_view_reprojection_errors" << Mat(reprojErrs);
if (!rvecs.empty() && !tvecs.empty())
{
CV_Assert(rvecs[0].type() == tvecs[0].type());
Mat bigmat((int)rvecs.size(), 6, rvecs[0].type());
for (int i = 0; i < (int)rvecs.size(); i++)
{
Mat r = bigmat(Range(i, i + 1), Range(0, 3));
Mat t = bigmat(Range(i, i + 1), Range(3, 6));
CV_Assert(rvecs[i].rows == 3 && rvecs[i].cols == 1);
CV_Assert(tvecs[i].rows == 3 && tvecs[i].cols == 1);
//*.t() is MatExpr (not Mat) so we can use assignment operator
r = rvecs[i].t();
t = tvecs[i].t();
}
//cvWriteComment( *fs, "a set of 6-tuples (rotation vector + translation vector) for each view", 0 );
fs << "extrinsic_parameters" << bigmat;
}
if (!imagePoints.empty())
{
Mat imagePtMat((int)imagePoints.size(), (int)imagePoints[0].size(), CV_32FC2);
for (int i = 0; i < (int)imagePoints.size(); i++)
{
Mat r = imagePtMat.row(i).reshape(2, imagePtMat.cols);
Mat imgpti(imagePoints[i]);
imgpti.copyTo(r);
}
fs << "image_points" << imagePtMat;
}
if (!newObjPoints.empty())
{
fs << "grid_points" << newObjPoints;
}
}
static bool readStringList(const string& filename, vector<string>& l)
{
l.resize(0);
FileStorage fs(filename, FileStorage::READ);
if (!fs.isOpened())
return false;
size_t dir_pos = filename.rfind('/');
if (dir_pos == string::npos)
dir_pos = filename.rfind('\\');
FileNode n = fs.getFirstTopLevelNode();
if (n.type() != FileNode::SEQ)
return false;
FileNodeIterator it = n.begin(), it_end = n.end();
for (; it != it_end; ++it)
{
string fname = (string)*it;
if (dir_pos != string::npos)
{
string fpath = samples::findFile(filename.substr(0, dir_pos + 1) + fname, false);
if (fpath.empty())
{
fpath = samples::findFile(fname);
}
fname = fpath;
}
else
{
fname = samples::findFile(fname);
}
l.push_back(fname);
}
return true;
}
static bool runAndSave(const string& outputFilename,
const vector<vector<Point2f> >& imagePoints,
Size imageSize, Size boardSize, Pattern patternType, float squareSize,
float grid_width, bool release_object,
float aspectRatio, int flags, Mat& cameraMatrix,
Mat& distCoeffs, bool writeExtrinsics, bool writePoints, bool writeGrid)
{
vector<Mat> rvecs, tvecs;
vector<float> reprojErrs;
double totalAvgErr = 0;
vector<Point3f> newObjPoints;
bool ok = runCalibration(imagePoints, imageSize, boardSize, patternType, squareSize,
aspectRatio, grid_width, release_object, flags, cameraMatrix, distCoeffs,
rvecs, tvecs, reprojErrs, newObjPoints, totalAvgErr);
printf("%s. avg reprojection error = %.7f\n",
ok ? "Calibration succeeded" : "Calibration failed",
totalAvgErr);
if (ok)
saveCameraParams(outputFilename, imageSize,
boardSize, squareSize, aspectRatio,
flags, cameraMatrix, distCoeffs,
writeExtrinsics ? rvecs : vector<Mat>(),
writeExtrinsics ? tvecs : vector<Mat>(),
writeExtrinsics ? reprojErrs : vector<float>(),
writePoints ? imagePoints : vector<vector<Point2f> >(),
writeGrid ? newObjPoints : vector<Point3f>(),
totalAvgErr);
return ok;
}
int main(int argc, char** argv)
{
Size boardSize, imageSize;
float squareSize, aspectRatio = 1;
Mat cameraMatrix, distCoeffs;
string outputFilename;
string inputFilename = "";
int i, nframes;
bool writeExtrinsics, writePoints;
bool undistortImage = false;
int flags = 0;
VideoCapture capture;
bool flipVertical;
bool showUndistorted;
bool videofile;
int delay;
clock_t prevTimestamp = 0;
int mode = DETECTION;
int cameraId = 1;
vector<vector<Point2f> > imagePoints;
vector<string> imageList;
Pattern pattern = CHESSBOARD;
cv::CommandLineParser parser(argc, argv,
"{help ||}{w||}{h||}{pt|chessboard|}{n|10|}{d|1000|}{s|1|}{o|out_camera_data.yml|}"
"{op||}{oe||}{zt||}{a||}{p||}{v||}{V||}{su||}"
"{oo||}{ws|11|}{dt||}"
"{@input_data|0|}");
if (parser.has("help"))
{
help(argv);
return 0;
}
boardSize.width = parser.get<int>("w");
boardSize.height = parser.get<int>("h");
if (parser.has("pt"))
{
string val = parser.get<string>("pt");
if (val == "circles")
pattern = CIRCLES_GRID;
else if (val == "acircles")
pattern = ASYMMETRIC_CIRCLES_GRID;
else if (val == "chessboard")
pattern = CHESSBOARD;
else
return fprintf(stderr, "Invalid pattern type: must be chessboard or circles\n"), -1;
}
squareSize = parser.get<float>("s");
nframes = parser.get<int>("n");
delay = parser.get<int>("d");
writePoints = parser.has("op");
writeExtrinsics = parser.has("oe");
bool writeGrid = parser.has("oo");
if (parser.has("a")) {
flags |= CALIB_FIX_ASPECT_RATIO;
aspectRatio = parser.get<float>("a");
}
if (parser.has("zt"))
flags |= CALIB_ZERO_TANGENT_DIST;
if (parser.has("p"))
flags |= CALIB_FIX_PRINCIPAL_POINT;
flipVertical = parser.has("v");
videofile = parser.has("V");
if (parser.has("o"))
outputFilename = parser.get<string>("o");
showUndistorted = parser.has("su");
if (isdigit(parser.get<string>("@input_data")[0]))
cameraId = parser.get<int>("@input_data");
else
inputFilename = parser.get<string>("@input_data");
int winSize = parser.get<int>("ws");
float grid_width = squareSize * (boardSize.width - 1);
bool release_object = false;
if (parser.has("dt")) {
grid_width = parser.get<float>("dt");
release_object = true;
}
if (!parser.check())
{
help(argv);
parser.printErrors();
return -1;
}
if (squareSize <= 0)
return fprintf(stderr, "Invalid board square width\n"), -1;
if (nframes <= 3)
return printf("Invalid number of images\n"), -1;
if (aspectRatio <= 0)
return printf("Invalid aspect ratio\n"), -1;
if (delay <= 0)
return printf("Invalid delay\n"), -1;
if (boardSize.width <= 0)
return fprintf(stderr, "Invalid board width\n"), -1;
if (boardSize.height <= 0)
return fprintf(stderr, "Invalid board height\n"), -1;
if (!inputFilename.empty())
{
if (!videofile && readStringList(samples::findFile(inputFilename), imageList))
mode = CAPTURING;
else
capture.open(samples::findFileOrKeep(inputFilename));
}
else
capture.open(cameraId);
if (!capture.isOpened() && imageList.empty())
return fprintf(stderr, "Could not initialize video (%d) capture\n", cameraId), -2;
if (!imageList.empty())
nframes = (int)imageList.size();
if (capture.isOpened())
printf("%s", liveCaptureHelp);
namedWindow("Image View", 1);
for (i = 0;; i++)
{
Mat view, viewGray;
bool blink = false;
if (capture.isOpened())
{
Mat view0;
capture >> view0;
view0.copyTo(view);
}
else if (i < (int)imageList.size())
view = imread(imageList[i], 1);
if (view.empty())
{
if (imagePoints.size() > 0)
runAndSave(outputFilename, imagePoints, imageSize,
boardSize, pattern, squareSize, grid_width, release_object, aspectRatio,
flags, cameraMatrix, distCoeffs,
writeExtrinsics, writePoints, writeGrid);
break;
}
imageSize = view.size();
if (flipVertical)
flip(view, view, 0);
vector<Point2f> pointbuf;
cvtColor(view, viewGray, COLOR_BGR2GRAY);
bool found;
switch (pattern)
{
case CHESSBOARD:
found = findChessboardCorners(view, boardSize, pointbuf,
CALIB_CB_ADAPTIVE_THRESH | CALIB_CB_FAST_CHECK | CALIB_CB_NORMALIZE_IMAGE);
break;
case CIRCLES_GRID:
found = findCirclesGrid(view, boardSize, pointbuf);
break;
case ASYMMETRIC_CIRCLES_GRID:
found = findCirclesGrid(view, boardSize, pointbuf, CALIB_CB_ASYMMETRIC_GRID);
break;
default:
return fprintf(stderr, "Unknown pattern type\n"), -1;
}
// improve the found corners' coordinate accuracy
if (pattern == CHESSBOARD && found) cornerSubPix(viewGray, pointbuf, Size(winSize, winSize),
Size(-1, -1), TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 30, 0.0001));
if (mode == CAPTURING && found &&
(!capture.isOpened() || clock() - prevTimestamp > delay * 1e-3 * CLOCKS_PER_SEC))
{
imagePoints.push_back(pointbuf);
prevTimestamp = clock();
blink = capture.isOpened();
}
if (found)
drawChessboardCorners(view, boardSize, Mat(pointbuf), found);
string msg = mode == CAPTURING ? "100/100" :
mode == CALIBRATED ? "Calibrated" : "Press 'g' to start";
int baseLine = 0;
Size textSize = getTextSize(msg, 1, 1, 1, &baseLine);
Point textOrigin(view.cols - 2 * textSize.width - 10, view.rows - 2 * baseLine - 10);
if (mode == CAPTURING)
{
if (undistortImage)
msg = cv::format("%d/%d Undist", (int)imagePoints.size(), nframes);
else
msg = cv::format("%d/%d", (int)imagePoints.size(), nframes);
}
putText(view, msg, textOrigin, 1, 1,
mode != CALIBRATED ? Scalar(0, 0, 255) : Scalar(0, 255, 0));
if (blink)
bitwise_not(view, view);
if (mode == CALIBRATED && undistortImage)
{
Mat temp = view.clone();
undistort(temp, view, cameraMatrix, distCoeffs);
}
imshow("Image View", view);
char key = (char)waitKey(capture.isOpened() ? 50 : 500);
if (key == 27)
break;
if (key == 'u' && mode == CALIBRATED)
undistortImage = !undistortImage;
if (capture.isOpened() && key == 'g')
{
mode = CAPTURING;
imagePoints.clear();
}
if (mode == CAPTURING && imagePoints.size() >= (unsigned)nframes)
{
if (runAndSave(outputFilename, imagePoints, imageSize,
boardSize, pattern, squareSize, grid_width, release_object, aspectRatio,
flags, cameraMatrix, distCoeffs,
writeExtrinsics, writePoints, writeGrid))
mode = CALIBRATED;
else
mode = DETECTION;
if (!capture.isOpened())
break;
}
}
if (!capture.isOpened() && showUndistorted)
{
Mat view, rview, map1, map2;
initUndistortRectifyMap(cameraMatrix, distCoeffs, Mat(),
getOptimalNewCameraMatrix(cameraMatrix, distCoeffs, imageSize, 1, imageSize, 0),
imageSize, CV_16SC2, map1, map2);
for (i = 0; i < (int)imageList.size(); i++)
{
view = imread(imageList[i], 1);
if (view.empty())
continue;
//undistort( view, rview, cameraMatrix, distCoeffs, cameraMatrix );
remap(view, rview, map1, map2, INTER_LINEAR);
imshow("Image View", rview);
char c = (char)waitKey();
if (c == 27 || c == 'q' || c == 'Q')
break;
}
}
return 0;
}
2-输入参数说明
" -w=<board_width> # the number of inner corners per one of board dimension\n"
" -h=<board_height> # the number of inner corners per another board dimension\n"
" [-pt=<pattern>] # the type of pattern: chessboard or circles' grid\n"
" [-n=<number_of_frames>] # the number of frames to use for calibration\n"
" # (if not specified, it will be set to the number\n"
" # of board views actually available)\n"
" [-d=<delay>] # a minimum delay in ms between subsequent attempts to capture a next view\n"
" # (used only for video capturing)\n"
" [-s=<squareSize>] # square size in some user-defined units (1 by default)\n"
" [-o=<out_camera_params>] # the output filename for intrinsic [and extrinsic] parameters\n"
" [-op] # write detected feature points\n"
" [-oe] # write extrinsic parameters\n"
" [-oo] # write refined 3D object points\n"
" [-zt] # assume zero tangential distortion\n"
" [-a=<aspectRatio>] # fix aspect ratio (fx/fy)\n"
" [-p] # fix the principal point at the center\n"
" [-v] # flip the captured images around the horizontal axis\n"
" [-V] # use a video file, and not an image list, uses\n"
" # [input_data] string for the video file name\n"
" [-su] # show undistorted images after calibration\n"
" [-ws=<number_of_pixel>] # Half of search window for cornerSubPix (11 by default)\n"
" [-dt=<distance>] # actual distance between top-left and top-right corners of\n"
" # the calibration grid. If this parameter is specified, a more\n"
" # accurate calibration method will be used which may be better\n"
" # with inaccurate, roughly planar target.\n"
" [input_data] # input data, one of the following:\n"
" # - text file with a list of the images of the board\n"
" # the text file can be generated with imagelist_creator\n"
" # - name of video file with a video of the board\n"
" # if input_data not specified, a live view from the camera is used\n"
**-w <board_width> # 图片某一维方向上的交点个数
-h <board_height> # 图片另一维上的交点个数
[-n <number_of_frames>] # 标定用的图片帧数
[-s <square_size>] # 单个方格大小（单位cm（或米）） (1 by default)
[-o <out_camera_params>] # 标定相机输出文件**
[-op] # write detected feature points
[-oe] # write extrinsic parameters
3-输入参数示例
cameraCalibration.exe -w=8 -h=11 -s=0.03 -o=camera.yml -op -oe
-w=8:交点个数8
-h=11:交点个数11
-s：黑色方框大小0.03m
-o标定参数保存文件
4-标定文件解读
---
%YAML:1.0
---
calibration_time: "Mon Jan 24 17:10:51 2022"
nframes: 10
image_width: 640
image_height: 480
board_width: 8
board_height: 11
square_size: 2.9999999329447746e-02
flags: 0
camera_matrix: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [ 6.0097346876749680e+02, 0., 3.2031703441387049e+02, 0.,
6.0225171288478975e+02, 2.3947860507800820e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
rows: 5
cols: 1
dt: d
data: [ -1.3711862233491057e-01, 2.7024113413198220e-01,
9.1669430855309032e-04, -3.3899628828653657e-03, 0. ]
avg_reprojection_error: 2.5811669018769290e-01
per_view_reprojection_errors: !!opencv-matrix
rows: 10
cols: 1
dt: f
data: [ 3.78828615e-01, 1.92462549e-01, 2.53371239e-01,
3.21146399e-01, 2.80651748e-01, 2.09034473e-01, 2.41499245e-01,
2.17772007e-01, 1.95044085e-01, 2.28271291e-01 ]
extrinsic_parameters: !!opencv-matrix
rows: 10
cols: 6
dt: d
nframes标定次数
image_width、image_height代表图片的长宽
camera_matrix规定了摄像头的内部参数矩阵
distortion_model指定了畸变模型
distortion_coefficients指定畸变模型的系数
rectification_matrix为矫正矩阵，一般为单位阵
projection_matrix为外部世界坐标到像平面的投影矩阵
5-效果
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