Pinhole camera model-based camera posture correcting method
A pinhole camera and correction method technology, applied in the field of camera attitude correction based on the pinhole camera model, can solve problems such as high hardware requirements, slow calculation speed, unsuitable application, etc., to save system cost and reduce processing Process, the effect of improving software performance
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[0023] Embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.
[0024] A camera attitude correction method based on the pinhole camera model, such as figure 1 and figure 2 shown, including the following steps:
[0025] Step 1: Use the same camera to shoot 3 to 5 calibration images (black and white checkerboard) from multiple angles and positions.
[0026] Step 2: Use Zhang Zhengyou calibration method Establish camera intrinsic parameter A.
[0027] In the above formula, s is a scalar, representing the scaling factor; It is the pixel coordinate value (homogeneous coordinate) of 3*1; A is the inner parameter matrix of 3*3; R=[r1 r2] is the matrix of 3*2, is the part of rotation transformation matrix [r1 r2 r3]; t is a translation vector of 3*1, It is a 3*1 world coordinate value (homogeneous coordinates, located on the shooting plane).
[0028] The above steps 1 and 2 use the ready-made method of Z...
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