MATLAB - Matlab相机校准工具箱的单位是什么？ [英] MATLAB - What are the units of Matlab Camera Calibration Toolbox

问题描述

当显示校准的外部参数（包括摄像机位置和校准棋盘的位置的3D模型）时，工具箱不包括轴的单位。似乎合乎逻辑的假设他们是毫米，但显示的z值不可能是正确的，如果他们确实是毫米。我假设有一些转换，可能需要做光学坐标和单位，但我不能从文档中找出来。有没有人解决这个问题？

When showing the extrinsic parameters of calibration (the 3D model including the camera position and the position of the calibration checkerboards), the toolbox does not include units for the axes. It seemed logical to assume that they are in mm, but the z values displayed can not possibly be correct if they are indeed in mm. I'm assuming that there is some transformation going on, perhaps having to do with optical coordinates and units, but I can't figure it out from the documentation. Has anyone solved this problem?

推荐答案

我知道matlabs没有什么（不完全正确，但我避免matlab，这几乎总是可能的）跟踪实用程序，但这里有一些一般的信息。

I know next to nothing about matlabs (not entirely true but i avoid matlab wherever I can, and that would be almost always possible) tracking utilities but here's some general info.

传感器上的像素尺寸与屏幕上的像素大小没有关系，在模型空间。出于所有目的，相机产生没有有意义单位的图片。跟踪过程不知道场景的规模。 （透视投影处理）。您可以通过获取2个跟踪点并测量这些点之间的距离来重新插入刻度。这是解算空间距离几乎任意。现在，如果你知道这些点之间的实际距离，你可以得到一个转换因子。通过这样做：

Pixel dimension on the sensor has nothing to do with the size of the pixel on screen, or in model space. For all purposes a camera produces a picture that has no meaningful units. A tracking process is unaware of the scale of the scene. (the perspective projection takes care of that). You can re insert a scale by taking 2 tracked points and measuring the distance between those points. This is the solver spaces distance is pretty much arbitrary. Now if you know the real distance between these points you can get a conversion factor. By doing:

真实距离/求解器空间距离。

real distance / solver space distance.

现在真的有办法知道这个距离相机设置，因为相机无法区分不同尺度的场景。所以一个完美的1：100复制品与求解器没有什么不同。所以你必须与每个测量期间可以单独测量的东西有关。相机总是产生相对性质的东西。

There's really now way to knowing this distance form the cameras settings as the camera is unable to differentiate between different scales of scenes. So a perfect 1:100 replica is no different for the solver than the real deal. So you must allays relate to something you can measure separately for each measuring session. The camera always produces something that's relative in nature.

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