?具體實現過程如下：

1.從不同角度用攝像機對立方體盒子進行拍攝，得到一幅圖像。如下：

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2.在立方體盒子上選取至少6個點，獲取這6個點的圖像坐標和空間點坐標（世界坐標系自己設定）。如：

7 %點個數

0 0 0%空間點的世界坐標

0 0 48

50 0 0

0 59 0

0 59 48

50 0 48

50 59 48

?

1538 1619%空間點對應的圖像坐標

1533 1012

1749 1244

814 1414

730 855

1771 707

1077 603

3.編程計算攝像機矩陣CM，完成標定。（Matlab實現的）

代碼如下：

clc

% 打開文件

fid_l=fopen('C:\Documents and Settings\duan\桌面\我的工作\inputdata_l.txt','r');

% 點的數目

tem_l =fscanf(fid_l,'%i',1);

var_l =tem_l;

% 空間點集

WPoint_l = zeros(var_l,3);

% 圖像點集

CPoint_l = zeros(var_l,2);

A_l = zeros(2*var_l,11);

for i = 1:1:var_l

?? ?[A_l,count_l]=fscanf(fid_l,'%f %f %f',[1,3]);

?? ?WPoint_l(i,1)=A_l(1);

?? ?WPoint_l(i,2)=A_l(2);

?? ?WPoint_l(i,3)=A_l(3);

end

for i = 1:1:var_l

?? ?[A_l,count_l]=fscanf(fid_l,'%f %f',[1,2]);

?? ?CPoint_l(i,1)=A_l(1);

?? ?CPoint_l(i,2)=A_l(2);

end

fclose(fid_l);

WPoint_l;

CPoint_l;

for i =1:1:var_l

?? ?m = 2*(i-1)+1;

?? ?n = 2*i;

?? ?A_l(m,1) = WPoint_l(i,1);

?? ?A_l(m,2) = WPoint_l(i,2);

?? ?A_l(m,3) = WPoint_l(i,3);

?? ?A_l(m,4) = 1;

?? ?A_l(m,5) = 0;

?? ?A_l(m,6) = 0;

?? ?A_l(m,7) = 0;

?? ?A_l(m,8) = 0;

?? ?A_l(m,9) ?= -WPoint_l(i,1)*CPoint_l(i,1);

?? ?A_l(m,10) = -WPoint_l(i,2)*CPoint_l(i,1);

?? ?A_l(m,11) = -WPoint_l(i,3)*CPoint_l(i,1);

?? ?A_l(n,1) ?= 0;

?? ?A_l(n,2) ?= 0;

?? ?A_l(n,3) ?= 0;

?? ?A_l(n,4) ?= 0;

?? ?A_l(n,5) ?= WPoint_l(i,1);

?? ?A_l(n,6) ?= WPoint_l(i,2);

?? ?A_l(n,7) ?= WPoint_l(i,3);

?? ?A_l(n,8) ?= 1;

?? ?A_l(n,9) ?= -WPoint_l(i,1)*CPoint_l(i,2);

?? ?A_l(n,10) = -WPoint_l(i,2)*CPoint_l(i,2);

?? ?A_l(n,11) = -WPoint_l(i,3)*CPoint_l(i,2);

end

?

?B_l = zeros(2*var_l,1);

?for i = 1:1:var_l

?? ? B_l(2*(i-1) + 1) = CPoint_l(i,1);

?? ? B_l(2*i) = CPoint_l(i,2);

?end

% ?A_l

% ?B_l

?p = A_l\B_l;

?p1 = [p;1.0];

?p1 = reshape(p1,4,3);

?CM_l = p1';

?%CM_l 即為要求的左攝像機矩陣

?CM_l ? ? ?

?

?

?

%這段代碼的作用是驗證所求的攝像機矩陣的正確性

% ?c =[30;-30;0;1];

% ?t =CM_l*c

% ?t(1)=t(1)/t(3);

% ?t(2)=t(2)/t(3);

% ?t(3)=t(3)/t(3);

% ?t

?

% 打開文件

fid_r = fopen('C:\Documents and Settings\duan\桌面\我的工作\inputdata_r.txt','r');

% 點的數目

tem_r = fscanf(fid_r,'%i',1);

var_r = tem_r;

% 空間點集

WPoint_r = zeros(var_r,3);

% 圖像點集

CPoint_r = zeros(var_r,2);

A_r = zeros(2*var_r,11);

for i = 1:1:var_r

?? ?[A_r,count_r] = fscanf(fid_r,'%f %f %f',[1,3]);

?? ?WPoint_r(i,1) = A_r(1);

?? ?WPoint_r(i,2) = A_r(2);

?? ?WPoint_r(i,3) = A_r(3);

end

for i = 1:1:var_r

?? ?[A_r,count_r] = fscanf(fid_r,'%f %f',[1,2]);

?? ?CPoint_r(i,1) = A_r(1);

?? ?CPoint_r(i,2) = A_r(2);

end

fclose(fid_r);

WPoint_r;

CPoint_r;

for i =1:1:var_r

?? ?m = 2*(i-1)+1;

?? ?n = 2*i;

?? ?A_r(m,1) = WPoint_r(i,1);

?? ?A_r(m,2) = WPoint_r(i,2);

?? ?A_r(m,3) = WPoint_r(i,3);

?? ?A_r(m,4) = 1;

?? ?A_r(m,5) = 0;

?? ?A_r(m,6) = 0;

?? ?A_r(m,7) = 0;

?? ?A_r(m,8) = 0;

?? ?A_r(m,9) ?= -WPoint_r(i,1)*CPoint_r(i,1);

?? ?A_r(m,10) = -WPoint_r(i,2)*CPoint_r(i,1);

?? ?A_r(m,11) = -WPoint_r(i,3)*CPoint_r(i,1);

?? ?A_r(n,1) = 0;

?? ?A_r(n,2) = 0;

?? ?A_r(n,3) = 0;

?? ?A_r(n,4) = 0;

?? ?A_r(n,5) = WPoint_r(i,1);

?? ?A_r(n,6) = WPoint_r(i,2);

?? ?A_r(n,7) = WPoint_r(i,3);

?? ?A_r(n,8) = 1;

?? ?A_r(n,9) ?= -WPoint_r(i,1)*CPoint_r(i,2);

?? ?A_r(n,10) = -WPoint_r(i,2)*CPoint_r(i,2);

?? ?A_r(n,11) = -WPoint_r(i,3)*CPoint_r(i,2);

end

?

?B_r = zeros(2*var_r,1);

?for i = 1:1:var_r

?? ? B_r(2*(i-1) + 1) = CPoint_r(i,1);

?? ? B_r(2*i) = CPoint_r(i,2);

?end

% ?A_r

% ?B_r

?p = A_r\B_r;

?p1 = [p;1.0];

?p1 = reshape(p1,4,3);

?CM_r = p1';

?%CM_r 即為要求的右攝像機矩陣

?CM_r

?

?

%這段代碼的作用是驗證所求的攝像機矩陣的正確性

?c =[30;0;0;1];

?t =CM_r*c;

?t(1)=t(1)/t(3);

?t(2)=t(2)/t(3);

?t(3)=t(3)/t(3);

?t

CM即為所求攝像機矩陣，也就完成了攝像機的標定過程。

?

轉載于:https://blog.51cto.com/19870404/388148

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