校准单目或双目摄像机函数-estimateCameraParameters

可直接用函数计算相机的内参和外参，而不用MATLAB中的APP工具里面的Camera Calibrator标定，很方便快捷，所以记录一下。

imgcount = 9;%ҪͼƬ
squareSize = 15;
imageFileNames = {1,imgcount};
for i = 1:imgcount
  imageFileNames{i} = sprintf('Image_%d.bmp', i);
end
[imagePoints,boardSize,imagesUsed] = detectCheckerboardPoints(imageFileNames);
m=permute(imagePoints,[2 1 3]);
worldPoints= generateCheckerboardPoints(boardSize,squareSize);
I = imread(imageFileNames{1});
imageSize = [size(I,1),size(I,2)];
cameraParams = estimateCameraParameters(imagePoints,worldPoints, ...
                                       'ImageSize',imageSize);
k = cameraParams.RadialDistortion;
A = (cameraParams.IntrinsicMatrix)'
showReprojectionErrors(cameraParams);

参考链接：

校准单个或立体相机 - MATLAB 估计相机参数 - 中国数学工程 (mathworks.cn)

https://gitee.com/liujin123time/zhang-s-calibration/tree/master/