基于棋盘格和Matlab检测的角点

下面的数据是基于棋盘格和Matlab，检测到的角点，包括棋盘格世界坐标系下的3D点，以及检测出来的像素角点,2D点。 这些点可以用于测试，验证PnP问题的求解，或相机位姿的求解。 //单位:米 static double gObjectPoints[]={ 0, 0, 0, 0.1000, 0, 0.2000, 0, 0.3000, 0, 0.4000, 0, 0.5000, 0.1000, 0, 0.1000, 0.1000, 0.1000, 0.2000, 0.1000, 0.3000, 0.1000, 0.4000, 0.1000, 0.5000, 0.2000, 0, 0.2000, 0.1000, 0.2000, 0.2000, 0.2000, 0.3000, 0.2000, 0.4000, 0.2000, 0.5000, 0.3000, 0, 0.3000, 0.1000, 0.3000, 0.2000, 0.3000, 0.3000, 0.3000, 0.4000, 0.3000, 0.5000, 0.4000, 0, 0.4000, 0.1000, 0.4000, 0.2000, 0.4000, 0.3000, 0.4000, 0.4000, 0.4000, 0.5000, 0.5000, 0, 0.5000, 0.1000, 0.5000, 0.2000, 0.5000, 0.3000, 0.5000, 0.4000, 0.5000, 0.5000, 0.6000, 0, 0.6000, 0.1000, 0.6000, 0.2000, 0.6000, 0.3000, 0.6000, 0.4000, 0.6000, 0.5000, 0.7000, 0, 0.7000, 0.1000, 0.7000, 0.2000, 0.7000, 0.3000, 0.7000, 0.4000, 0.7000, 0.5000, 0.8000, 0, 0.8000, 0.1000, 0.8000, 0.2000, 0.8000, 0.3000, 0.8000, 0.4000, 0.8000, 0.5000 }; //单位:像素 static double gImagePoints[]={ 847.4886, 850.7136, 852.7741, 828.7344, 857.6515, 808.6666, 862.2272, 790.0522, 866.3762, 773.0623, 870.0391, 757.3862, 823.8635, 850.3890, 830.0303, 828.4091, 835.8287, 808.4295, 840.9203, 790.0726, 846.0095, 772.9457, 850.4819, 757.4263, 800.0982, 850.1008, 807.2758, 828.2090, 813.9884, 808.2684, 820.0247, 789.9752, 825.9340, 772.9689, 831.1547, 757.2540, 776.2370, 849.9279, 784.5996, 828.1187, 792.0801, 808.2185, 799.4100, 789.7657, 805.7051, 772.8325, 811.8602, 757.1756, 752.4512, 849.6842, 761.7646, 828.0157, 770.5236, 807.9907, 778.2557, 789.8532, 785.8090, 772.8681, 792.3529, 757.2258, 728.7513, 849.3456, 739.2453, 827.7354, 748.6905, 807.9238, 757.5654, 789.6743, 765.5367, 772.7883, 773.0747, 757.1527, 705.0985, 849.1139, 716.1335, 827.6434, 727.1556, 807.7189, 736.2896, 789.6546, 745.6337, 772.6696, 753.6428, 757.2044, 681.8501, 848.8632, 693.7321, 827.4995, 705.2987, 807.5602, 715.7386, 789.4695, 725.7770, 772.6211, 734.1417, 757.2759, 658.2809, 848.6370, 671.7648, 827.0990, 683.6927, 807.6315, 694.0555, 789.5468, 705.5133, 772.7883, 715.9418, 757.1839 }; //对应的相机内参矩阵： focalLength=[507.834589, 508.321406] % [fx fy] principalPoint = [957.612285, 493.785693] %[cx cy] imageSize = [1080, 1920] % [mrows ncols]