# matlab标定参数

## 相机内参

| 0                     | 1                     | 2                     |
| --------------------- | --------------------- | --------------------- |
| 6.138149733734280e+03 | 0                     | 7.244878111512812e+02 |
| 0                     | 6.651309839828123e+03 | 5.358189824761293e+02 |
| 0                     | 0                     | 1                     |

## 畸变

| 0    | 1                      |
| ---- | ---------------------- |
| k1   | 15.417476643365749     |
| k2   | -2.543897784820708e+03 |
| p1   | 0.006416193049765      |
| p2   | 0.008645251405539      |
| k3   | 1.267624998722697e+05  |

## code

```java
        if (model == Model.MATRICE_300_RTK) {
            cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) {
                {
                    put(0, 0, 6.138149733734280e+03, 0, 7.244878111512812e+02);
                    put(1, 0, 0, 6.651309839828123e+03, 5.358189824761293e+02);
                    put(2, 0, 0, 0, 1);
                }
            };
            distCoeffs = new Mat(5, 1, CvType.CV_64FC1) {
                {
                    put(0, 0, 15.417476643365749);
                    put(1, 0, -2.543897784820708e+03);
                    put(2, 0, 0.006416193049765);
                    put(3, 0, 0.008645251405539);
                    put(4, 0, 1.267624998722697e+05);
                }
            };
        }

```

## h20t-wide
### matlab相机内参

| 0                     | 1                     | 2                     |
| --------------------- | --------------------- | --------------------- |
| 1.031702877495456e+03 | 0                     | 7.218195236014553e+02 |
| 0                     | 1.031973212074951e+03 | 5.237434637031985e+02 |
| 0                     | 0                     | 1                     |

### matlab畸变

| 0    | 1                  |
| ---- | ------------------ |
| k1   | 0.395601113675025  |
| k2   | 1.821800287761213  |
| p1   | -0.002359010285514 |
| p2   | 0.001310912112583  |
| k3   | 2.440065871569540  |

### matlab code
```java
    if (model == Model.MATRICE_300_RTK) {
        cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) {
            {
                put(0, 0, 1.031702877495456e+03, 0, 7.218195236014553e+02);
                put(1, 0, 0, 1.031973212074951e+03, 5.237434637031985e+02);
                put(2, 0, 0, 0, 1);
            }
        };
        distCoeffs = new Mat(5, 1, CvType.CV_64FC1) {
            {
                put(0, 0, 0.395601113675025);
                put(1, 0, 1.821800287761213);
                put(2, 0, -0.002359010285514);
                put(3, 0, 0.001310912112583);
                put(4, 0, 2.440065871569540);
            }
        };
    }
```
### opencv相机内参

| 0              | 1              | 2              |
| -------------- | -------------- | -------------- |
| 1.03309006e+03 | 0              | 7.21136602e+02 |
| 0              | 1.03340179e+03 | 5.22873022e+02 |
| 0              | 0              | 1              |


### opencv畸变

| 0    | 1               |
| ---- | --------------- |
| k1   | 3.92926049e-01  |
| k2   | -1.79059043e+00 |
| p1   | -2.31264466e-03 |
| p2   | -1.31495457e-03 |
| k3   | 2.35399874e+00  |

### opencv code
```java
    if (model == Model.MATRICE_300_RTK) {
        cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) {
            {
                put(0, 0, 1.03309006e+03, 0, 7.21136602e+02);
                put(1, 0, 0, 1.03340179e+03, 5.22873022e+02);
                put(2, 0, 0, 0, 1);
            }
        };
        distCoeffs = new Mat(5, 1, CvType.CV_64FC1) {
            {
                put(0, 0, 3.92926049e-01);
                put(1, 0, -1.79059043e+00);
                put(2, 0, -2.31264466e-03);
                put(3, 0, -1.31495457e-03);
                put(4, 0, 2.35399874e+00);
            }
        };
    }
```

## h20-wide
### matlab相机内参

| 0                     | 1                     | 2                     |
| --------------------- | --------------------- | --------------------- |
| 1.044519539602912e+03 | 0                     | 6.972195526483131e+02 |
| 0                     | 1.044812413150267e+03 | 5.401129532084527e+02 |
| 0                     | 0                     | 1                     |

### matlab畸变

| 0    | 1                      |
| ---- | ---------------------- |
| k1   | 0.364115622764920      |
| k2   | 1.536252491565715      |
| p1   | -9.228759331583879e-04 |
| p2   | -0.001232457536218     |
| k3   | 1.892321165817003      |

### matlab code
```java
    if (model == Model.MATRICE_300_RTK) {
        cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) {
            {
                put(0, 0, 1.044519539602912e+03, 0, 6.972195526483131e+02);
                put(1, 0, 0, 1.044812413150267e+03, 5.401129532084527e+02);
                put(2, 0, 0, 0, 1);
            }
        };
        distCoeffs = new Mat(5, 1, CvType.CV_64FC1) {
            {
                put(0, 0, 0.364115622764920);
                put(1, 0, 1.536252491565715);
                put(2, 0, -9.228759331583879e-04);
                put(3, 0, -0.001232457536218);
                put(4, 0, 1.892321165817003);
            }
        };
    }
```
### opencv相机内参

| 0              | 1              | 2              |
| -------------- | -------------- | -------------- |
| 1.04447865e+03 | 0              | 6.96263376e+02 |
| 0              | 1.04474733e+03 | 5.39167804e+02 |
| 0              | 0              | 1              |


### opencv畸变

| 0    | 1               |
| ---- | --------------- |
| k1   | 3.63236533e-01  |
| k2   | -1.53128654e+00 |
| p1   | -9.46646880e-04 |
| p2   | -1.18548317e-03 |
| k3   | 1.88324325e+00  |

### opencv code
```java
    if (model == Model.MATRICE_300_RTK) {
        cameraMatrix = new Mat(3, 3, CvType.CV_64FC1) {
            {
                put(0, 0, 1.03309006e+03, 0, 7.21136602e+02);
                put(1, 0, 0, 1.03340179e+03, 5.22873022e+02);
                put(2, 0, 0, 0, 1);
            }
        };
        distCoeffs = new Mat(5, 1, CvType.CV_64FC1) {
            {
                put(0, 0, 3.63236533e-01);
                put(1, 0, -1.53128654e+00);
                put(2, 0, -9.46646880e-04);
                put(3, 0, -1.18548317e-03);
                put(4, 0, 1.88324325e+00);
            }
        };
    }
```