For these cases, this paper presented a two-step calibration based on soft constraint optimization, which is motivated by "no free lunch" theorem and error analysis. The key steps include (1) homography estimation with weighting function, (2) Initialization based on a simplified model, and (3...
平移向量: Translation Vectors 平均重投影误差: Mean Reprojection Error 重投影误差: Reprojection Errors 重投影点: Reprojected Points 6.相机成像原理 6.1 世界坐标系 世界坐标系(world coordinate),也称为测量坐标系,是一个三维直角坐标系,以其为基准可以描述相机...
5、常用术语 内参矩阵: Intrinsic Matrix 焦距: Focal Length 主点: Principal Point 径向畸变: Radial Distortion 切向畸变: Tangential Distortion 旋转矩阵: Rotation Matrices 平移向量: Translation Vectors 平均重投影误差: Mean Reprojection Error 重投影误差: Reprojection Errors 重投影点: Reprojected Points 6.相...
5、常用术语内参矩阵: Intrinsic Matrix焦距: Focal Length主点: Principal Point径向畸变: Radial Distortion切向畸变: Tangential Distortion旋转矩阵: Rotation Matrices平移向量: Translation Vectors平均重投影误差: Mean Reprojection Error重投影误差: Reprojection Errors重投影点: Reprojected Points ...
在激光雷达和相机的标定中,我们常会用到重投影误差(Reprojection error)。之所以使用重投影误差,是因为它不光考虑了投影矩阵的计算误差,也考虑了图像点的测量误差,所以其精度会更高。 如何理解重投影误差? 当我们得到一组雷达与相机的标定结果,我们可以将雷达坐标系中的一点通过标定结果投影到相机坐标系下,比较相机坐...
相机标定(Camera calibration)原理、步骤 在图像测量过程以及机器视觉应用中,为确定空间物体表面某点的三维几何位置与其在图像中对应点之间的相互关系,必须建立相机成像的几何模型,这些几何模型参数就是相机参数。在大多数条件下这些参数必须通过实验与计算才能得到,这个求解参数的过程就称之为相机标定(或摄像机标定)。无...
相机标定(Camera calibration)原理、步骤 author@jason_ql(lql0716) http://blog.csdn.net/lql0716 在图像测量过程以及机器视觉应用中,为确定空间物体表面某点的三维几何位置与其在图像中对应点之间的相互关系,必须建立相机成像的几何模型,这些几何模型参数就是相机参数。在大多数条件下这些参数必须通过实验与计算才能...
doublereprojectionError= cv::calibrateCamera( objectPoints,// calibration pattern points in the calibration pattern coordinate spaceimagePoints,// projections of calibration pattern pointsimageSize,// Size of the image used only to initialize the intrinsic camera matrixcameraMatrix,// camera matrix AdistC...
How to programmatically get the "mean error... Learn more about camera calibration, reprojection errors
The calibration patterns do not have enough variation in orientation with respect to the camera. Consider removing image pairs if the images: Have a high mean reprojection error. Are blurry. Contain a calibration pattern at an angle greater than 45 degrees relative to the camera plane. Incorrect...