1. Chun b nh.

2. Tin hnh calib bng matlab

3. nh gi sai s ca camera
1. Chun b nh:
Gm 29 bc nh chp Chessboard( kch thc c l 25x25 mm) nhng v tr
khc nhau.

2. Tin hnh calib bng matlab

Tt c nh a vo u c nhn. Tin hnh calib ta thu c kt qu nh sau

28 bc nh c chp nhn v 1 bc b t chi.

Khi s dng 28 nh calib th Reprojection errors l 1.21 pixels
Ta loi b nhng nh c Reprojection errors c sai s ln hn 1.21 v
Recalibration
Ta thu c

Kt qu Reprojection error gim cn 0.91 pixels nh hn 1 nn c th chp nhn

kt qu ny.
T ta thu c:
Ma trn thng s ni ca camera

[ ]
f x s cx
K= 0 f y c y
0 0 1

Vi:
f x ,f y
l tiu c camera
cx , c y l ta ca tm camera
s l sai s khng vung gc ca 2 trc ta
Matlab tr v cho ta nh sau:

[ ]
3302.2 0 210 6.7
K= 0 3302.5 1547.1
0 0 1

Kch thc ca nh u vo l 4160 3120 ta tm l thuyt ca camera l

(2080 ; 1560) nh vy c x , c y c khong sai lch khong 20 pixels

Reprojection error l khong 0.91 pixels

V vi mi hnh ta li c ma trn thng s ngoi tnh tin v xoay nh sau

Ma trn thng s ngoi tnh tin

Ma trn thng s ngoi xoay

3. nh gi sai s
S dng nh s 1 nh gi sai s
Ta c cc thng s

[ ] [ ]
0.0189 0.9934 0.1130 94.17632
R= 0.9998 0.0178 0.0111 ; T = 110.434 ;
0.009 0.1132 0.9935 506.9149

[]
0
0
Ta chn ngay im gc nn PW =
0
1

P' =M PW =K [ R T ] PW

][][
0

[ ][ ][ ]
3302.2 0 2106.7 0.0189 0.9934 0.1130 94.17632 1378906.66 2720.22
0
0 3302.5 1547.1 0.9998 0.0178 0.0111 110.434 = 419549.75 = 827.64
0
0 0 1 0.009 0.1132 0.9935 506.9149 506.91 1
1
So snh vi im tham chiu trong matlab l [2724.2 822.9]

Sai s ln nht khong 5 pixels.

[]
0
25
Ta chn in th 2 c PW =
0
1

P' =M PW =K [ R T ] PW

][ ][ ][ ]
0

[3302.2
0
0
0

0
2106.7

1 ][
0.0189 0.9934 0.1130 94.17632
3302.5 1547.1 0.9998 0.0178 0.0111 110.434
0.009 0.1132 0.9935 506.9149
25
0
1
1302349 2554
= 425386 = 834
510 1
So snh vi im tham chiu trong matlab l [2559.9 820.5]

Sai s ln nht khong 14 pixels.