Создайте набор калибровочных изображений.
Обнаружьте калибровочный шаблон.
Сгенерируйте мировые координаты углов квадратов. Модули квадрата находятся в миллиметрах.
Калибруйте камеру.
Отобразите стандартные погрешности.
Standard Errors of Estimated Camera Parameters
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Intrinsics
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Focal length (pixels): [ 714.1886 +/- 3.3219 710.3785 +/- 4.0579 ]
Principal point (pixels):[ 563.6481 +/- 5.3967 355.7252 +/- 3.3036 ]
Radial distortion: [ -0.3536 +/- 0.0091 0.1730 +/- 0.0488 ]
Extrinsics
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Rotation vectors:
[ -0.6096 +/- 0.0054 -0.1789 +/- 0.0073 -0.3835 +/- 0.0024 ]
[ -0.7283 +/- 0.0050 -0.0996 +/- 0.0072 0.1964 +/- 0.0027 ]
[ -0.6722 +/- 0.0051 -0.1444 +/- 0.0074 -0.1329 +/- 0.0026 ]
[ -0.5836 +/- 0.0056 -0.2901 +/- 0.0074 -0.5622 +/- 0.0025 ]
[ -0.3157 +/- 0.0065 -0.1441 +/- 0.0075 -0.1067 +/- 0.0011 ]
[ -0.7581 +/- 0.0052 0.1947 +/- 0.0072 0.4324 +/- 0.0030 ]
[ -0.7515 +/- 0.0051 0.0767 +/- 0.0072 0.2070 +/- 0.0029 ]
[ -0.6223 +/- 0.0053 0.0231 +/- 0.0073 0.3663 +/- 0.0024 ]
[ 0.3443 +/- 0.0063 -0.2226 +/- 0.0073 -0.0437 +/- 0.0014 ]
Translation vectors (mm):
[ -146.0517 +/- 6.0391 -26.8685 +/- 3.7318 797.9026 +/- 3.9002 ]
[ -209.4358 +/- 6.9637 -59.4565 +/- 4.3578 921.8198 +/- 4.6295 ]
[ -129.3825 +/- 7.0907 -44.1030 +/- 4.3751 937.6831 +/- 4.4913 ]
[ -151.0049 +/- 6.6905 -27.3253 +/- 4.1339 884.2788 +/- 4.3925 ]
[ -174.9500 +/- 6.7056 -24.3499 +/- 4.1606 886.4961 +/- 4.6686 ]
[ -134.3097 +/- 7.8887 -103.4981 +/- 4.8925 1042.4553 +/- 4.8184 ]
[ -173.9846 +/- 7.6891 -73.1691 +/- 4.7812 1017.2385 +/- 4.8126 ]
[ -202.9448 +/- 7.4327 -87.9091 +/- 4.6482 983.6957 +/- 4.9072 ]
[ -319.8862 +/- 6.3213 -119.8898 +/- 4.0922 829.4581 +/- 4.9591 ]