一、获取单目针孔相机数据
在APP中选择Camera Calibrator，如下：
点击 Add Images，导入拍照图片。标定20张左右就够了，然后角度变一下，但不需要变太大，太大了会影响标定效果。标定板最好在视场中心，且占据较大面积。
修改棋盘格大小为27*27mm（我的A4纸测量是这样）
对于标准相机，菜单栏的option里选择三阶径向畸变和斜切：
而鱼眼相机，选择
点击Calibrate，进行相机标定：
右上角是重建平均误差，只要平均误差小于0.5，就可以认为这是相机标定的结果是可靠的。这里太大了哈哈哈：
把相机参数导出来，点击 Export Camera Parameters。点击确定，就可以看到matlab工作区出现了相机参数。点开这个参数，就可以得到相机的各个参数：
- ImageSize：图像大小
- Radial Distortion：径向畸变
- Tangential Distortion：切向畸变
- World Points：世界坐标系下的点
- World Units：世界坐标下的单位
- Estimate Skew：估计倾斜
- Num Radial Distortion Coefficient：径向畸变系数个数
- Estimate Tangential Distortion：估计切向畸变
- Translation Vectors：平移向量
- Reprojection Errors： 重投影误差
- Detected Keypoints：检测到的关键点
- Rotation Vectors：旋转向量
- Num Patterns：模态数
- Intrinsics：内参
- Intrinsic Matrix：内参矩阵
- Focal Length：焦距
- Principal Point：主点偏移
- Skew：偏斜
- Mean Reprojection Error：平均重投影误差
- Reprojected Points：重投影点
- Rotation Matrices：旋转矩阵
结果如下：
二、制作单目相机yaml文件
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 1715.3730
Camera.fy: 1702.5771
Camera.cx: 1129.8076
Camera.cy: 642.5709
Camera.k1: 0.02724
Camera.k2: -0.097636
Camera.k3: 0.10436
Camera.p1: 0.0000127185
Camera.p2: -0.001243
# Camera frames per second
Camera.fps: 30.0
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 0
# Camera resolution
Camera.width: 640
Camera.height: 480
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 5
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500
三、获取鱼眼相机数据
参考链接。拍照同上。区别在这里
camera model 选择 fisheye, estimate alignment 选择勾，因为官网解释说
Estimate the axes alignment, specified as the comma-separated pair consisting of ‘EstimateAlignment’ and false or true. Set to true if the optical axis of the fisheye lens is not perpendicular to the image plane.
估计坐标轴的对齐，指定为逗号分隔的一对，由’EstimateAlignment’和false或true组成。如果鱼眼镜头的光轴不垂直于像平面，则设置为true。
计算结果cameraParams中查看Intrinsics
Mapping Coefficients: 映射系数, [ a 0 a 2 a 3 a 4 ] \left[ \begin{matrix} {
{a}_{0}} & {
{a}_{2}} & {
{a}_{3}} & {
{a}_{4}} \end{matrix} \right] [a0a2a3a4], a 1 = 1 {
{a}_{1}}=1 a1=1
Image Size: 图像大小
Distortion Center: 畸变中心
Stretch Matrix: 拉伸变换, [ c d e 1 ] \left[ \begin{matrix} c & d \\ e & 1 \\\end{matrix} \right] [ced1]