knowledge_map/工具使用/matlab标定参数.md

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

        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

    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

    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

    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

    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);
            }
        };
    }