相机与投影仪立体标定

step1:相机采集标点板图像获取特征点。

step2:投影仪投射特定的条纹于标定板获取特征点处的绝对相位值。

step3:联立相机获取的特征点和特征点处的绝对相位值，把投影仪当作“逆相机”处理，从投影仪视角获得标定板特征点。

step4:联立相机视角获得的标定板特征点和投影仪视角获得的标定板特征点，进行立体标定。

结果如下：相机1是投影仪，相机2是相机

相关参数：

Standard Errors of Estimated Stereo Camera Parameters
-----------------------------------------------------

Camera 1 Intrinsics
-------------------
Focal length (pixels): [ 1919.2395 +/- 10.5673 1919.7662 +/- 10.5306 ]
Principal point (pixels):[ 567.2411 +/- 1.2615 358.3760 +/- 0.8487 ]
Radial distortion: [ 0.0112 +/- 0.0037 0.1030 +/- 0.0338 ]

Camera 1 Extrinsics
-------------------
Rotation vectors:
[ 0.0067 +/- 0.0004 -0.0244 +/- 0.0005 0.0015 +/- 0.0000 ]
[ 0.0062 +/- 0.0004 -0.0686 +/- 0.0005 0.0014 +/- 0.0000 ]
[ 0.0070 +/- 0.0004 0.0979 +/- 0.0007 0.0016 +/- 0.0001 ]
[ 0.0071 +/- 0.0004 0.1043 +/- 0.0007 0.0016 +/- 0.0001 ]
[ 0.0072 +/- 0.0004 0.1098 +/- 0.0007 0.0016 +/- 0.0001 ]
[ 0.0090 +/- 0.0003 0.1114 +/- 0.0007 0.0017 +/- 0.0001 ]
[ 0.0092 +/- 0.0004 0.0015 +/- 0.0004 0.0016 +/- 0.0000 ]
[ 0.0090 +/- 0.0003 0.1649 +/- 0.0009 0.0016 +/- 0.0001 ]

Translation vectors (mm):
[ -105.7797 +/- 0.2831 -69.0469 +/- 0.1899 429.2923 +/- 2.3543 ]
[ -106.8536 +/- 0.2806 -69.0028 +/- 0.1872 421.9654 +/- 2.3162 ]
[ -102.1546 +/- 0.2843 -69.0420 +/- 0.1908 434.0502 +/- 2.3811 ]
[ -107.4252 +/- 0.2856 -69.0595 +/- 0.1915 435.9947 +/- 2.3913 ]
[ -106.8061 +/- 0.2852 -69.0554 +/- 0.1911 435.0903 +/- 2.3857 ]
[ -114.1136 +/- 0.2829 -69.0505 +/- 0.1897 431.3741 +/- 2.3655 ]
[ -115.6726 +/- 0.2820 -69.0312 +/- 0.1897 428.9885 +/- 2.3533 ]
[ -110.6251 +/- 0.2868 -69.0583 +/- 0.1904 434.4912 +/- 2.3714 ]

Camera 2 Intrinsics
-------------------
Focal length (pixels): [ 1730.2256 +/- 9.6108 1729.9861 +/- 9.5973 ]
Principal point (pixels):[ 654.6479 +/- 2.2411 478.1994 +/- 0.9836 ]
Radial distortion: [ -0.0767 +/- 0.0045 0.3437 +/- 0.0282 ]

Position And Orientation of Camera 2 Relative to Camera 1
---------------------------------------------------------
Rotation of camera 2: [ -0.0007 +/- 0.0003 -0.1112 +/- 0.0011 -0.0001 +/- 0.0001 ]
Translation of camera 2 (mm): [ 142.4539 +/- 0.3201 3.1182 +/- 0.1753 42.3221 +/- 1.4743 ]