demo.m

一个很好用的摄像机标定程序

clc
format compact
more off
load samples/coords/syntcds
load samples/coords/realcds
addpath solvopt
addpath solvopt/uncprobs
addpath m
echo on
%
% press enter to start the calibration with synthetic data
pause
clc
[Te, Re, Ine, errs, cerrs] = calibr8( [1300, 353, 286, 0, 0], 7, 0.1, PC1, PC2, PC4, PC5 ); 
quiver( cerrs(:,1), cerrs(:,2), cerrs(:,3), cerrs(:,4) )  
figure
plot( errs(1,:) )
grid on
zoom on
%
% Results of the calibration:
%
% intrinsic parameters of the camera (focal length, principal points, linear distortion coefficients):
fl=Ine(1);pp=[Ine(2),Ine(3)];b=[Ine(4),Ine(5)];fl,pp,b
%
% estimated rotation matrix:
Re
%
% appropriate euler angles (in degrees):
[ox, fy, kz] = deeuler_deg( Re )
%
% estimated rotation matrix:
Te
%
% extracted translation vector:
t = Re * Te(:,3)
%
%press enter to continue with calibration with real data
pause
close all
clc

[Te, Re, Ine, errs, cerrs] = calibr8( [1500, 353, 286, 0, 0], 7, 0.1, shot2, shot5, shot9, shot11 ); 

quiver( cerrs(:,1), cerrs(:,2), cerrs(:,3), cerrs(:,4) )  
figure
plot( errs(1,:) )
grid on
zoom on
%
% Results of the calibration:
%
% intrinsic parameters of the camera (focal length, principal points, linear distortion coefficients):
fl=Ine(1);pp=[Ine(2),Ine(3)];b=[Ine(4),Ine(5)];fl,pp,b
%
% estimated rotation matrix:
Re
%
% appropriate euler angles (in degrees):
[ox, fy, kz] = deeuler_deg( Re )
%
% estimated rotation matrix:
Te
%
% extracted translation vector:
t = Re * Te(:,3)
% press enter to finish
pause
close all
%
% thank you