新人一枚，，由于毕设接触到了摄像机标定，，有一种想屎的感觉。。。:'(

这是我得到的结果

Focal Length:          fc = [ 860.94858   860.94858 ]

Principal point:       cc = [ 479.50000   359.50000 ]

Skew:             alpha_c = [ 0.00000 ]   => angle of pixel = 90.00000 degrees

Distortion:            kc = [ 0.00000   0.00000   0.00000   0.00000   0.00000 ]

Calibration results after optimization (with uncertainties):

Focal Length:          fc = [ 903.99695   906.61700 ] 　[ 5.98386   5.86518 ]

Principal point:       cc = [ 469.76850   365.65195 ] 　[ 5.80789   5.40516 ]

Skew:             alpha_c = [ 0.00000 ] 　[ 0.00000  ]   => angle of pixel axes = 90.00000 　0.00000 degrees

Distortion:            kc = [ 0.11133   -0.32246   0.00541   -0.00502  0.00000 ] 　[ 0.02433   0.07643   0.00208   0.00234  0.00000 ]

Pixel error:          err = [ 1.59149   1.30703 ]

Translation vector: Tc_ext = [ -137.115750   -98.458083   380.558792 ]

Rotation vector:   omc_ext = [ 1.960104   1.883889   -0.369381 ]

Rotation matrix:    Rc_ext = [ 0.059056   0.994942   0.081252

0.890590   -0.015742   -0.454534

-0.450956   0.099206   -0.887016 ]

Pixel error:           err = [ 1.90584   1.66958 ]

a =

860.9486         0  479.5000

0  860.9486  369.5000

0         0    1.0000

b =

0.0591    0.9949 -137.1157

0.8906   -0.0157  -98.4581

-0.4510    0.0992  380.5588

h=a*b

h =

1.0e+004 *

-0.0165    0.0904    6.4428

0.0600    0.0023    5.5849

-0.0000    0.0000    0.0381

m =

139.1670  134.1300    1.0000  (图像上点的坐标)

n =

77.5370  605.8330    1.0000

h1=inv(h)

h1 =

-0.0000    0.0015   -0.2175

0.0011    0.0002   -0.2126

-0.0000    0.0000    0.0024

m1=m*h1

m1 =

0.1490    0.2288  -58.7883

>> n1=n*h1

n1 =

0.6807    0.2073 -145.6736

>> m11=m1/-58.7883

m11 =

-0.0025   -0.0039    1.0000

>> n11=n1/-145.6736

n11 =

-0.0047   -0.0014    1.0000

>> l=sqrt((-0.0025+0.0047)^2+(-0.0039+0.0014)^2)

l =

0.0033

>> 得到的结果很不对啊。。。我采集的两个点事棋盘格7个格的距离，，每个格28mm，所以，，，，不知道怎么办  到底哪里出了问题啊。。。小妹在这里跪求各位大哥大姐指点一下。。。。谢谢！！！！！！:) :) :) :) :)