206 lines
6.2 KiB
Markdown
206 lines
6.2 KiB
Markdown
# 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);
|
|
}
|
|
};
|
|
}
|
|
```
|