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camera_calib_pnp's Introduction

CAMERA_CALIB_PNP

该仓库包含相机内参标定代码，以及PNP转换的旋转平移矩阵代码

1.相机内参标定

  1. 用待标定相机拍摄不少于10张，各个角度的标定版照片，并将这些照片置于一个文件夹中
  2. 运行python calib.py --imgs-source img_path --image-format img_format --width width --heifht height
  • 上述代码中，img_path为标定图片文件夹路径，img_format为图像格式，如：jpg，png。width,height为标定板内部角点在长宽方向的数量

2.PNP转换矩阵

  1. 利用测量工具测得标定版上的在实际三维坐标系下的坐标，并用对应要使用PNP算法的相机拍摄下照片
  2. 利用ps或其他工具找到标定版上的点在图像坐标系下的坐标(横为x，纵为y)
  3. 将各对应坐标输入PNP_final.py中，得到转换矩阵和平移矩阵

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