Задайте калибровочные изображения.
Обнаружьте шахматные доски.
Задайте мировые координаты шахматной доски keypoints. Размер квадратов находится в миллиметрах.
Калибруйте систему стереофотоаппарата. Здесь обе камеры имеют то же разрешение.
Отобразите стандартные погрешности.
Standard Errors of Estimated Stereo Camera Parameters
-----------------------------------------------------
Camera 1 Intrinsics
-------------------
Focal length (pixels): [ 1038.0286 +/- 0.6533 1037.9145 +/- 0.6389 ]
Principal point (pixels):[ 656.0841 +/- 0.3408 485.5485 +/- 0.2639 ]
Radial distortion: [ -0.3617 +/- 0.0008 0.1866 +/- 0.0026 ]
Camera 1 Extrinsics
-------------------
Rotation vectors:
[ 0.1680 +/- 0.0007 -0.0271 +/- 0.0006 3.1125 +/- 0.0001 ]
[ 0.1995 +/- 0.0006 -0.0523 +/- 0.0005 -3.0991 +/- 0.0000 ]
[ 0.4187 +/- 0.0005 -0.1061 +/- 0.0004 -3.1113 +/- 0.0001 ]
[ 0.5239 +/- 0.0005 -0.0604 +/- 0.0004 -3.0552 +/- 0.0001 ]
[ 0.6807 +/- 0.0006 -0.0306 +/- 0.0005 -3.0331 +/- 0.0001 ]
[ 0.3513 +/- 0.0007 -0.0993 +/- 0.0006 -3.0334 +/- 0.0001 ]
[ 0.0212 +/- 0.0007 -0.1179 +/- 0.0007 -3.0833 +/- 0.0000 ]
[ -0.2765 +/- 0.0008 -0.0847 +/- 0.0007 -3.0943 +/- 0.0001 ]
[ -0.4407 +/- 0.0007 -0.1119 +/- 0.0006 -3.0652 +/- 0.0001 ]
[ -0.2537 +/- 0.0008 -0.1334 +/- 0.0007 -3.1039 +/- 0.0001 ]
Translation vectors (mm):
[ 708.4192 +/- 0.4914 227.0500 +/- 0.4002 1492.8672 +/- 1.0127 ]
[ 368.4408 +/- 0.5228 191.7200 +/- 0.4094 1589.9146 +/- 0.9987 ]
[ 226.3710 +/- 0.5173 191.1429 +/- 0.4030 1578.4779 +/- 0.9576 ]
[ 49.5377 +/- 0.5183 196.7495 +/- 0.4030 1580.5404 +/- 0.9493 ]
[ -172.4001 +/- 0.7003 150.9910 +/- 0.5406 2119.3253 +/- 1.2532 ]
[ 10.7777 +/- 0.6784 176.8785 +/- 0.5276 2066.8343 +/- 1.2907 ]
[ 295.4840 +/- 0.6616 167.8675 +/- 0.5158 2010.7713 +/- 1.2738 ]
[ 614.2338 +/- 0.6457 166.2016 +/- 0.5153 1968.1798 +/- 1.2722 ]
[ 767.0156 +/- 0.6106 165.5372 +/- 0.4991 1868.3334 +/- 1.2395 ]
[ 953.8133 +/- 0.7336 -14.7981 +/- 0.6039 2255.6170 +/- 1.5107 ]
Camera 2 Intrinsics
-------------------
Focal length (pixels): [ 1042.4817 +/- 0.6644 1042.2692 +/- 0.6534 ]
Principal point (pixels):[ 640.5972 +/- 0.3305 479.0652 +/- 0.2633 ]
Radial distortion: [ -0.3614 +/- 0.0007 0.1822 +/- 0.0022 ]
Position And Orientation of Camera 2 Relative to Camera 1
---------------------------------------------------------
Rotation of camera 2: [ -0.0037 +/- 0.0002 0.0050 +/- 0.0004 -0.0002 +/- 0.0000 ]
Translation of camera 2 (mm): [ -119.8720 +/- 0.0401 -0.4005 +/- 0.0414 -0.0258 +/- 0.1750 ]