摄像机标定TSAI两步法

tsai摄像机标定的c语言程序 This file contains routines for calibrating Tsai's 11 parameter camera model.The camera model is based on the pin hole model of 3D-2D perspective projection with 1st order radial lens distortion.

* This file contains routines for calibrating Tsai‘s 11 parameter camera model. *
* The camera model is based on the pin hole model of 3D-2D perspective          *
* projection with 1st order radial lens distortion.  The model consists of      *
* 5 internal （also called intrinsic or interior） camera parameters:             *
*                                                                               *
*       f       - effective focal length of the pin hole camera                 *
*       kappa1  - 1st order radial lens distortion coefficient                  *
*       Cx Cy  - coordinates of center of radial lens distortion               *
*		  （also used as the piercing point of the camera coordinate	*
*		   frame‘s Z axis with the camera‘s sensor plane）               *
*       sx      - uncertainty factor for scale of horizontal scanline           *
*                                                                               *
* and 6 external （also called extrinsic or exterior） camera parameters:         *
*                                                                               *
*       Rx Ry Rz Tx Ty Tz  - rotational and translational components of    *
*                                 the transform between the world‘s coordinate  *
*                                 frame and the camera‘s coordinate frame.      *
*                                                                               *
* Data for model calibration consists of the （xyz） world coordinates of a     *
* feature point （in mm） and the corresponding coordinates （XfYf） （in pixels）   *
* of the feature point in the image.  Two types of calibration are available:   *
*                                                                               *
*       coplanar     - all of the calibration points lie in a single plane      *
*       non-coplanar - the calibration points do not lie in a single plane      *
*                                                                               *
* This file contains routines for two levels of calibration.  The first level   *
* of calibration is a direct implementation of Tsai‘s algorithm in which only   *
* the f Tz and kappa1 parameters are optimized for.  The routines are:         *
*                                                                               *
*       coplanar_calibration （）                                                 *
*       noncoplanar_calibration （）                                              *
*                                                                               *
* The second level of calibration optimizes for everything.  This level is      *
* very slow but provides the most accurate calibration.  The routines are:      *
*                                                                               *
*       coplanar_calibration_with_full_optimization （）                          *
*       noncoplanar_calibration_with_full_