calib_results_old0.m

经典的张正友的摄像机的两步标定程序

% Intrinsic and Extrinsic Camera Parameters
%
% This script file can be directly excecuted under Matlab to recover the camera intrinsic and extrinsic parameters.
% IMPORTANT: This file contains neither the structure of the calibration objects nor the image coordinates of the calibration points.
%            All those complementary variables are saved in the complete matlab data file Calib_Results.mat.
% For more information regarding the calibration model visit http://www.vision.caltech.edu/bouguetj/calib_doc/


%-- Focal length:
fc = [ 638.643630314619370 ; 630.521147377151240 ];

%-- Principal point:
cc = [ 324.625602665761680 ; 204.138485319040940 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;

%-- Distortion coefficients:
kc = [ -0.368457918313141 ; 0.159825657057960 ; 0.000078442677218 ; 0.001616408316092 ; 0.000000000000000 ];

%-- Focal length uncertainty:
fc_error = [ 1.166993309674818 ; 1.148724155860588 ];

%-- Principal point uncertainty:
cc_error = [ 1.162809373534734 ; 1.069597600327578 ];

%-- Skew coefficient uncertainty:
alpha_c_error = 0.000000000000000;

%-- Distortion coefficients uncertainty:
kc_error = [ 0.003578717236578 ; 0.007635175350708 ; 0.000342982428183 ; 0.000347466054002 ; 0.000000000000000 ];

%-- Image size:
nx = 640;
ny = 480;


%-- Various other variables (may be ignored if you do not use the Matlab Calibration Toolbox):
%-- Those variables are used to control which intrinsic parameters should be optimized

n_ima = 20;						% Number of calibration images
est_fc = [ 1 ; 1 ];					% Estimation indicator of the two focal variables
est_aspect_ratio = 1;				% Estimation indicator of the aspect ratio fc(2)/fc(1)
center_optim = 1;					% Estimation indicator of the principal point
est_alpha = 0;						% Estimation indicator of the skew coefficient
est_dist = [ 1 ; 1 ; 1 ; 1 ; 0 ];	% Estimation indicator of the distortion coefficients


%-- Extrinsic parameters:
%-- The rotation (omc_kk) and the translation (Tc_kk) vectors for every calibration image and their uncertainties

%-- Image #1:
omc_1 = [ 2.200673e+000 ; 2.186156e+000 ; -1.194710e-001 ];
Tc_1  = [ -2.701079e+002 ; -1.168552e+002 ; 5.724302e+002 ];
omc_error_1 = [ 1.605842e-003 ; 1.795824e-003 ; 3.650798e-003 ];
Tc_error_1  = [ 1.047495e+000 ; 1.003898e+000 ; 1.261578e+000 ];

%-- Image #2:
omc_2 = [ 1.853356e+000 ; 1.865734e+000 ; -6.772821e-001 ];
Tc_2  = [ -2.464719e+002 ; -8.748627e+001 ; 7.080725e+002 ];
omc_error_2 = [ 1.214713e-003 ; 1.714727e-003 ; 2.766690e-003 ];
Tc_error_2  = [ 1.281090e+000 ; 1.230139e+000 ; 1.285507e+000 ];

%-- Image #3:
omc_3 = [ 1.843880e+000 ; 1.648521e+000 ; -3.020501e-002 ];
Tc_3  = [ -2.956504e+002 ; -1.209210e+002 ; 6.020600e+002 ];
omc_error_3 = [ 1.508980e-003 ; 1.599965e-003 ; 2.630936e-003 ];
Tc_error_3  = [ 1.113786e+000 ; 1.063141e+000 ; 1.341085e+000 ];

%-- Image #4:
omc_4 = [ 1.899031e+000 ; 1.769127e+000 ; 1.388118e-001 ];
Tc_4  = [ -2.442185e+002 ; -1.476678e+002 ; 4.853643e+002 ];
omc_error_4 = [ 1.497294e-003 ; 1.481797e-003 ; 2.585607e-003 ];
Tc_error_4  = [ 9.096877e-001 ; 8.528145e-001 ; 1.129124e+000 ];

%-- Image #5:
omc_5 = [ -2.042469e+000 ; -2.005093e+000 ; 6.419538e-001 ];
Tc_5  = [ -2.536453e+002 ; -1.409621e+002 ; 7.035158e+002 ];
omc_error_5 = [ 1.759971e-003 ; 1.299958e-003 ; 2.951117e-003 ];
Tc_error_5  = [ 1.277627e+000 ; 1.216493e+000 ; 1.317418e+000 ];

%-- Image #6:
omc_6 = [ 1.957224e+000 ; 2.111285e+000 ; -1.012423e+000 ];
Tc_6  = [ -2.273355e+002 ; -1.022336e+002 ; 7.248542e+002 ];
omc_error_6 = [ 9.708546e-004 ; 1.923511e-003 ; 2.896145e-003 ];
Tc_error_6  = [ 1.309776e+000 ; 1.255010e+000 ; 1.231776e+000 ];

%-- Image #7:
omc_7 = [ 2.188990e+000 ; 2.134731e+000 ; -1.085763e-001 ];
Tc_7  = [ -2.697791e+002 ; -1.517938e+002 ; 5.371779e+002 ];
omc_error_7 = [ 1.434125e-003 ; 1.689633e-003 ; 3.461467e-003 ];
Tc_error_7  = [ 9.909003e-001 ; 9.416777e-001 ; 1.211451e+000 ];

%-- Image #8:
omc_8 = [ 2.001910e+000 ; 1.945138e+000 ; -4.179162e-001 ];
Tc_8  = [ -2.675122e+002 ; -1.264111e+002 ; 5.977446e+002 ];
omc_error_8 = [ 1.231462e-003 ; 1.640832e-003 ; 2.963907e-003 ];
Tc_error_8  = [ 1.087160e+000 ; 1.045331e+000 ; 1.228615e+000 ];

%-- Image #9:
omc_9 = [ -2.136712e+000 ; -2.104634e+000 ; -3.806655e-002 ];
Tc_9  = [ -2.655986e+002 ; -1.128638e+002 ; 5.070400e+002 ];
omc_error_9 = [ 1.572972e-003 ; 1.558886e-003 ; 3.099346e-003 ];
Tc_error_9  = [ 9.301970e-001 ; 8.982876e-001 ; 1.139693e+000 ];

%-- Image #10:
omc_10 = [ -2.034115e+000 ; -1.990677e+000 ; -2.292099e-001 ];
Tc_10  = [ -2.721683e+002 ; -9.572733e+001 ; 4.924526e+002 ];
omc_error_10 = [ 1.475636e-003 ; 1.614775e-003 ; 2.832912e-003 ];
Tc_error_10  = [ 9.037108e-001 ; 8.792650e-001 ; 1.149146e+000 ];

%-- Image #11:
omc_11 = [ 1.888423e+000 ; 2.223423e+000 ; -2.030043e-001 ];
Tc_11  = [ -2.200932e+002 ; -1.757323e+002 ; 6.090133e+002 ];
omc_error_11 = [ 1.372346e-003 ; 1.873673e-003 ; 3.482013e-003 ];
Tc_error_11  = [ 1.116183e+000 ; 1.049019e+000 ; 1.306525e+000 ];

%-- Image #12:
omc_12 = [ 1.660610e+000 ; 2.044142e+000 ; -6.853588e-001 ];
Tc_12  = [ -1.803440e+002 ; -1.068510e+002 ; 7.549911e+002 ];
omc_error_12 = [ 1.202962e-003 ; 1.799714e-003 ; 2.853202e-003 ];
Tc_error_12  = [ 1.363908e+000 ; 1.296782e+000 ; 1.320777e+000 ];

%-- Image #13:
omc_13 = [ -1.974397e+000 ; -2.332655e+000 ; -2.169758e-001 ];
Tc_13  = [ -1.877964e+002 ; -1.680191e+002 ; 6.058864e+002 ];
omc_error_13 = [ 1.742624e-003 ; 2.122604e-003 ; 3.972479e-003 ];
Tc_error_13  = [ 1.126008e+000 ; 1.064696e+000 ; 1.371313e+000 ];

%-- Image #14:
omc_14 = [ 2.266737e+000 ; 1.940209e+000 ; -2.401015e-001 ];
Tc_14  = [ -3.394657e+002 ; -1.048542e+002 ; 6.553165e+002 ];
omc_error_14 = [ 1.643900e-003 ; 1.890006e-003 ; 3.807177e-003 ];
Tc_error_14  = [ 1.197194e+000 ; 1.160947e+000 ; 1.442123e+000 ];

%-- Image #15:
omc_15 = [ 2.203061e+000 ; 1.874222e+000 ; 1.018567e-001 ];
Tc_15  = [ -3.034553e+002 ; -1.178783e+002 ; 5.505928e+002 ];
omc_error_15 = [ 1.789069e-003 ; 1.759412e-003 ; 3.633592e-003 ];
Tc_error_15  = [ 1.040043e+000 ; 9.804239e-001 ; 1.294295e+000 ];

%-- Image #16:
omc_16 = [ 2.089261e+000 ; 2.101562e+000 ; -3.897298e-001 ];
Tc_16  = [ -3.141769e+002 ; -9.617815e+001 ; 9.168738e+002 ];
omc_error_16 = [ 2.043674e-003 ; 2.494162e-003 ; 4.700366e-003 ];
Tc_error_16  = [ 1.664841e+000 ; 1.596798e+000 ; 1.853271e+000 ];

%-- Image #17:
omc_17 = [ 1.864380e+000 ; 1.749940e+000 ; 2.536852e-001 ];
Tc_17  = [ -3.352918e+002 ; -1.008476e+002 ; 7.850358e+002 ];
omc_error_17 = [ 2.035673e-003 ; 2.051076e-003 ; 3.605494e-003 ];
Tc_error_17  = [ 1.475276e+000 ; 1.385851e+000 ; 1.863011e+000 ];

%-- Image #18:
omc_18 = [ -1.835929e+000 ; -2.065687e+000 ; 1.094535e+000 ];
Tc_18  = [ -1.359771e+002 ; -7.687208e+001 ; 1.022017e+003 ];
omc_error_18 = [ 1.973996e-003 ; 1.575561e-003 ; 2.990724e-003 ];
Tc_error_18  = [ 1.852396e+000 ; 1.738584e+000 ; 1.710598e+000 ];

%-- Image #19:
omc_19 = [ 2.171386e+000 ; 2.156368e+000 ; -1.525060e-001 ];
Tc_19  = [ -3.352109e+002 ; -1.063371e+002 ; 8.636030e+002 ];
omc_error_19 = [ 2.512266e-003 ; 2.903016e-003 ; 5.683247e-003 ];
Tc_error_19  = [ 1.575693e+000 ; 1.509395e+000 ; 1.875757e+000 ];

%-- Image #20:
omc_20 = [ -2.131298e+000 ; -2.120239e+000 ; -2.047491e-001 ];
Tc_20  = [ -3.246326e+002 ; -1.020135e+002 ; 7.134830e+002 ];
omc_error_20 = [ 2.178587e-003 ; 2.091686e-003 ; 4.222286e-003 ];
Tc_error_20  = [ 1.312143e+000 ; 1.264454e+000 ; 1.661199e+000 ];