calib_results.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 = [ 638.681947564757590 ; 630.646665011392880 ];

%-- Principal point:
cc = [ 324.444878123291690 ; 204.343117159574580 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;

%-- Distortion coefficients:
kc = [ -0.367623144784811 ; 0.162398019417904 ; -0.000153619468335 ; 0.001776694991615 ; 0.000000000000000 ];

%-- Focal length uncertainty:
fc_error = [ 1.092330494437494 ; 1.076061615855913 ];

%-- Principal point uncertainty:
cc_error = [ 1.089009249033391 ; 0.998936207985053 ];

%-- Skew coefficient uncertainty:
alpha_c_error = 0.000000000000000;

%-- Distortion coefficients uncertainty:
kc_error = [ 0.003357362930119 ; 0.007185758801399 ; 0.000318894294894 ; 0.000324812607894 ; 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 = [ 2.200932e+000 ; 2.186418e+000 ; -1.198964e-001 ];
Tc_1  = [ -2.699561e+002 ; -1.170280e+002 ; 5.726427e+002 ];
omc_error_1 = [ 1.501893e-003 ; 1.679725e-003 ; 3.418275e-003 ];
Tc_error_1  = [ 9.813075e-001 ; 9.378320e-001 ; 1.180925e+000 ];

%-- Image #2:
omc_2 = [ 1.853500e+000 ; 1.866053e+000 ; -6.774596e-001 ];
Tc_2  = [ -2.462760e+002 ; -8.769700e+001 ; 7.081943e+002 ];
omc_error_2 = [ 1.135294e-003 ; 1.602502e-003 ; 2.590841e-003 ];
Tc_error_2  = [ 1.199924e+000 ; 1.149065e+000 ; 1.203098e+000 ];

%-- Image #3:
omc_3 = [ 1.844313e+000 ; 1.648912e+000 ; -3.054787e-002 ];
Tc_3  = [ -2.955121e+002 ; -1.210884e+002 ; 6.022981e+002 ];
omc_error_3 = [ 1.409099e-003 ; 1.496192e-003 ; 2.464559e-003 ];
Tc_error_3  = [ 1.043469e+000 ; 9.932255e-001 ; 1.255432e+000 ];

%-- Image #4:
omc_4 = [ 1.899487e+000 ; 1.769497e+000 ; 1.383726e-001 ];
Tc_4  = [ -2.441232e+002 ; -1.478003e+002 ; 4.856187e+002 ];
omc_error_4 = [ 1.397975e-003 ; 1.385554e-003 ; 2.422468e-003 ];
Tc_error_4  = [ 8.522915e-001 ; 7.967889e-001 ; 1.057041e+000 ];

%-- Image #5:
omc_5 = [ -2.042251e+000 ; -2.005096e+000 ; 6.420003e-001 ];
Tc_5  = [ -2.534594e+002 ; -1.411671e+002 ; 7.036681e+002 ];
omc_error_5 = [ 1.645953e-003 ; 1.217041e-003 ; 2.763115e-003 ];
Tc_error_5  = [ 1.196691e+000 ; 1.136391e+000 ; 1.233198e+000 ];

%-- Image #6:
omc_6 = [ 1.957253e+000 ; 2.111652e+000 ; -1.012525e+000 ];
Tc_6  = [ -2.271361e+002 ; -1.024530e+002 ; 7.249666e+002 ];
omc_error_6 = [ 9.084331e-004 ; 1.797445e-003 ; 2.712235e-003 ];
Tc_error_6  = [ 1.226723e+000 ; 1.172315e+000 ; 1.152849e+000 ];

%-- Image #7:
omc_7 = [ 2.189133e+000 ; 2.134842e+000 ; -1.095378e-001 ];
Tc_7  = [ -2.696413e+002 ; -1.519444e+002 ; 5.374811e+002 ];
omc_error_7 = [ 1.340294e-003 ; 1.579810e-003 ; 3.239840e-003 ];
Tc_error_7  = [ 9.284023e-001 ; 8.798237e-001 ; 1.134030e+000 ];

%-- Image #8:
omc_8 = [ 2.002134e+000 ; 1.945458e+000 ; -4.183334e-001 ];
Tc_8  = [ -2.673455e+002 ; -1.265750e+002 ; 5.979423e+002 ];
omc_error_8 = [ 1.150561e-003 ; 1.533488e-003 ; 2.775472e-003 ];
Tc_error_8  = [ 1.018424e+000 ; 9.765728e-001 ; 1.149991e+000 ];

%-- Image #9:
omc_9 = [ -2.135493e+000 ; -2.103589e+000 ; -4.388208e-002 ];
Tc_9  = [ -2.654530e+002 ; -1.129417e+002 ; 5.059537e+002 ];
omc_error_9 = [ 1.469050e-003 ; 1.459656e-003 ; 2.897614e-003 ];
Tc_error_9  = [ 8.694805e-001 ; 8.374385e-001 ; 1.065411e+000 ];

%-- Image #10:
omc_10 = [ -2.033901e+000 ; -1.990408e+000 ; -2.291412e-001 ];
Tc_10  = [ -2.720367e+002 ; -9.588126e+001 ; 4.926270e+002 ];
omc_error_10 = [ 1.380316e-003 ; 1.511255e-003 ; 2.652398e-003 ];
Tc_error_10  = [ 8.466004e-001 ; 8.214098e-001 ; 1.075496e+000 ];

%-- Image #11:
omc_11 = [ 1.888544e+000 ; 2.223571e+000 ; -2.036292e-001 ];
Tc_11  = [ -2.199349e+002 ; -1.758993e+002 ; 6.092214e+002 ];
omc_error_11 = [ 1.282350e-003 ; 1.751468e-003 ; 3.260352e-003 ];
Tc_error_11  = [ 1.045619e+000 ; 9.799984e-001 ; 1.222959e+000 ];

%-- Image #12:
omc_12 = [ 1.660733e+000 ; 2.044453e+000 ; -6.854911e-001 ];
Tc_12  = [ -1.801399e+002 ; -1.070759e+002 ; 7.550816e+002 ];
omc_error_12 = [ 1.124457e-003 ; 1.681911e-003 ; 2.671490e-003 ];
Tc_error_12  = [ 1.277443e+000 ; 1.211218e+000 ; 1.235970e+000 ];

%-- Image #13:
omc_13 = [ -1.974358e+000 ; -2.332544e+000 ; -2.170848e-001 ];
Tc_13  = [ -1.876260e+002 ; -1.682107e+002 ; 6.060054e+002 ];
omc_error_13 = [ 1.631708e-003 ; 1.987132e-003 ; 3.721816e-003 ];
Tc_error_13  = [ 1.054655e+000 ; 9.944487e-001 ; 1.283552e+000 ];

%-- Image #14:
omc_14 = [ 2.266998e+000 ; 1.940460e+000 ; -2.409332e-001 ];
Tc_14  = [ -3.392841e+002 ; -1.050363e+002 ; 6.555995e+002 ];
omc_error_14 = [ 1.536502e-003 ; 1.767199e-003 ; 3.563057e-003 ];
Tc_error_14  = [ 1.121581e+000 ; 1.084668e+000 ; 1.349849e+000 ];

%-- Image #15:
omc_15 = [ 2.203524e+000 ; 1.874535e+000 ; 1.007988e-001 ];
Tc_15  = [ -3.033512e+002 ; -1.180353e+002 ; 5.509555e+002 ];
omc_error_15 = [ 1.672208e-003 ; 1.645857e-003 ; 3.402946e-003 ];
Tc_error_15  = [ 9.744673e-001 ; 9.161055e-001 ; 1.211740e+000 ];

%-- Image #16:
omc_16 = [ 2.089303e+000 ; 2.101684e+000 ; -3.901386e-001 ];
Tc_16  = [ -3.139207e+002 ; -9.645299e+001 ; 9.170269e+002 ];
omc_error_16 = [ 1.911587e-003 ; 2.333013e-003 ; 4.400064e-003 ];
Tc_error_16  = [ 1.559362e+000 ; 1.491576e+000 ; 1.734545e+000 ];

%-- Image #17:
omc_17 = [ 1.864919e+000 ; 1.750379e+000 ; 2.534888e-001 ];
Tc_17  = [ -3.351164e+002 ; -1.010840e+002 ; 7.852847e+002 ];
omc_error_17 = [ 1.903524e-003 ; 1.919863e-003 ; 3.377885e-003 ];
Tc_error_17  = [ 1.382010e+000 ; 1.294619e+000 ; 1.744257e+000 ];

%-- Image #18:
omc_18 = [ -1.835597e+000 ; -2.065686e+000 ; 1.094406e+000 ];
Tc_18  = [ -1.357001e+002 ; -7.719175e+001 ; 1.022119e+003 ];
omc_error_18 = [ 1.846542e-003 ; 1.475399e-003 ; 2.798942e-003 ];
Tc_error_18  = [ 1.734860e+000 ; 1.623799e+000 ; 1.600915e+000 ];

%-- Image #19:
omc_19 = [ 2.171445e+000 ; 2.156416e+000 ; -1.530141e-001 ];
Tc_19  = [ -3.349787e+002 ; -1.066014e+002 ; 8.638146e+002 ];
omc_error_19 = [ 2.350564e-003 ; 2.716499e-003 ; 5.321204e-003 ];
Tc_error_19  = [ 1.475973e+000 ; 1.409984e+000 ; 1.755794e+000 ];

%-- Image #20:
omc_20 = [ -2.131139e+000 ; -2.120033e+000 ; -2.047133e-001 ];
Tc_20  = [ -3.244420e+002 ; -1.022407e+002 ; 7.136613e+002 ];
omc_error_20 = [ 2.039744e-003 ; 1.958379e-003 ; 3.955022e-003 ];
Tc_error_20  = [ 1.229085e+000 ; 1.181090e+000 ; 1.554956e+000 ];