CN112258586B - Calibration method for stereoscopic vision model parameters of single plane mirror - Google Patents
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Abstract
A calibration method for stereoscopic vision model parameters discloses a method for establishing a stereoscopic vision model and solving model parameters. And introducing a reflection matrix of the plane mirror, establishing visual models of the real camera and the virtual camera, and deducing a three-dimensional measurement model of the single plane mirror stereoscopic vision. And calibrating each parameter of the monocular stereoscopic vision model by adopting a step method, and solving initial values of the parameters in the real camera and the virtual camera in a small range of the image center area. And respectively calibrating the radial distortion coefficient and the eccentric distortion coefficient of the two cameras within the depth of field range. And on the premise of locking the distortion coefficients of the two cameras, respectively carrying out optimization solution on the internal parameters and the external parameters in the respective models, thereby realizing the calibration of the parameters of the stereoscopic vision model of the single plane mirror. The modeling process of the invention is simple, and the model is easy to apply. In addition, the step-by-step calibration method of firstly distortion coefficients and then internal and external parameters avoids the mutual influence between model parameter errors and improves the calibration precision of the parameters of the stereoscopic vision model of the single plane mirror.
Description
Technical Field
The invention belongs to the field of computer vision measurement, and relates to a method for calibrating parameters in a stereoscopic vision model.
Background
The vision measurement technology has the advantages of high real-time performance, strong robustness, excellent measurement precision and three-dimensional full-field measurement, and has been widely concerned by the industry and academia. According to the image processing result and the calibrated camera model parameters, the technology can realize quantitative expression of scene information. The binocular camera is a common configuration form for realizing three-dimensional measurement, however, the measurement mode has the disadvantages of high measurement cost and difficulty in synchronous triggering of the binocular camera. The monocular stereoscopic vision system consisting of the single plane mirror and the single camera effectively solves the pain points. The accurate solving of the imaging model parameters is crucial to improving the visual detection precision of the object to be detected. The model parameters to be solved include internal parameters, external parameters and distortion coefficients. The distortion of the camera is closely related to the position of an object point in a depth of field range, and when short-object-distance and long-focus close-range parameters are adopted for imaging, the imaging distortion of the lens in the depth of field range is particularly serious, so that the distortion becomes a main factor for restricting the improvement of the vision measurement precision. Therefore, the distortion is accurately solved, and the accurate calibration of other parameters in the monocular stereoscopic vision imaging model is realized, so that the method has important significance for improving the vision measurement precision.
The patent number ZL 108253939A 'variable visual axis monocular stereoscopic vision measuring method' invented by Tongji university Li Anhu et al, invents a method for calibrating parameters of variable visual axis monocular stereoscopic vision, and the method firstly calibrates internal parameters of a monocular camera by adopting methods such as direct linear transformation and the like without considering the condition of a rotating double prism. Then, the rotating double prism is arranged in front of the monocular camera to form a monocular stereoscopic vision system, and the system is calibrated to obtain the relative position relation between the camera and the rotating prism. The calibration method disclosed by the invention does not consider the mutual influence of the solution errors of the internal parameters, the external parameters and the distortion coefficients in the visual model. Moreover, the rotating biprism needs to be removed and introduced during calibration, and the calibration process is complicated. The invention is a correction method of image points in monocular stereoscopic vision images, which is disclosed in patent No. CN 202010157954.9 'of Feng Xiaofeng of the school of the police in Hunan province' invents a correction method for imaging distortion points in monocular mirror stereoscopic vision images, and visual vertical parallax is reduced by enabling an epipolar line and a real imaging plane or a virtual imaging plane not to intersect at a pole, on the basis, the search range of matching points in a corresponding visual angle is reduced from a two-dimensional image to a one-dimensional straight line, and the processing precision and speed are obviously improved. The invention does not consider the influence of the depth position on the imaging distortion, and moreover, the disclosure only relates to the calibration of the distortion and does not mention the calibration of other parameters in the visual model.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides a calibration method for stereoscopic vision model parameters of a single plane mirror. The method comprises the following steps: establishing a monocular stereoscopic vision model and solving parameters in the model, introducing a reflection matrix of a plane mirror into the monocular imaging model in the aspect of establishing a measurement model, and respectively obtaining visual imaging models of a real camera and a virtual camera; on the basis, a three-dimensional measurement model of monocular stereoscopic vision is deduced; in the aspect of calibrating model parameters, various parameters of the monocular stereoscopic vision model are calibrated by adopting a step method, wherein the step method is to solve initial values of internal parameters in a real camera model and a virtual camera model in a small range of an image central area. Then, the radial distortion coefficient and the eccentric distortion coefficient of the two cameras in the depth of field range are respectively calibrated. And finally, respectively carrying out optimization solution on the internal parameters and the external parameters in the respective models on the premise of locking the distortion coefficients of the two cameras, thereby realizing the calibration of parameters of the stereoscopic vision model of the single plane mirror.
According to the calibration method for parameters of the monocular mirror stereoscopic vision model, the establishment of the monocular stereoscopic vision model and the monocular stereoscopic vision three-dimensional measurement model is realized by introducing the reflection matrix of the plane mirror, the modeling process is simplified, and the application of the model is facilitated. In addition, the step-by-step calibration method of solving the distortion coefficient and then solving the internal parameter and the external parameter avoids the coupling effect between model parameter errors and improves the calibration precision of the stereoscopic model parameters of the single plane mirror. A calibration method for parameters of a stereoscopic vision model of a single plane mirror is as follows:
(1) Monocular vision model
The monocular stereoscopic vision system composed of a plane mirror and a camera equivalently comprises two cameras: real cameras and virtual cameras. For real cameras, let the real camera coordinate system o r -x r y r z r The lower spatial point is P r (x r y r z r ) Real camera coordinate system and world coordinate system o w -x w y w z w The transformation matrix between, i.e. the extrinsic parameter matrix of the real camera is [ R ] r T r ]。p(u r v r ) Is a space point directly on an image surface coordinate system o without a reflector r -u r v r The visual model of the real camera can be represented by equation (1) as:
wherein s is r Is a scale factor, alpha r And beta r Are respectively defined as u r 、v r Normalized focal length in both axial directions, (u) 0 v 0 ) Is the intersection point coordinate of the real camera optical axis and the imaging plane.
For a virtual camera, let the virtual camera coordinate system o v -x v y v z v And the world coordinate system o w -x w y w z w The transformation matrix between, i.e. the extrinsic parameter matrix of the virtual camera is [ R ] v T v ]. The visual model of the virtual camera can be represented by equation (2):
wherein, p (u) v v v ) Virtual image point, P v (x v y v z v ) Is P r (x r y r z r ) About the point of symmetry of the plane mirror. s v Is a scale factor, alpha v And beta v Are respectively defined as u v 、v v Normalized focal length in both axial directions.
According to the mirror symmetry property, P v (x v y v z v ) And P r (x r y r z r ) The relationship between them can be expressed by equation (3):
unfolding to obtain:
wherein (n) x n y n z ) Is a unit normal vector of the plane mirror, satisfies n x ·n x +n y ·n y +n z ·n z And =1.d is the real camera coordinate system o r -x r y r z r Origin o r Perpendicular distance to the plane. Then equation (2) can be re-expressed as:
wherein the content of the first and second substances,
and
respectively correspond to o r -x r y r z r And o v -x v y v z v A rotation matrix and a translation matrix in between.
(2) Monocular stereo vision three-dimensional measuring model
The formula (1) is arranged to obtain:
obtaining by arranging the formula (2):
is prepared from formula (3), formula (4) and formulaAs can be seen from the formulas (5), (6) and (7), p (u) r v r ) And p (u) v v v ) The relationship between them can be expressed by equation (8):
the coordinates of the space points in the real coordinate system are solved by the following formula:
the formula (9) is the established three-dimensional measurement model of monocular stereovision.
(3) Visual model parameter calibration
1) Initial value calibration of internal parameter
Considering the influence of distortion, solving the parameter matrix K in the camera by using the Zhang scaling method in a small range of the image central region r And K v And obtaining the focal length f of the lens.
2) Distortion coefficient calibration
Manufacturing and assembling defects of the lens may cause radial distortion and eccentric distortion, and the lens distortion may be expressed by equation (10):
wherein, (u v) is the image point coordinate; delta of u 、Δ v The distortion produced for an image point is at the horizontal axis u of the image r (u v ) And a vertical axis v r (v v ) The component of (a);
is the distortion radius; k is a radical of 1 、k 2 First two order coefficients, p, of radial distortion, respectively 1 And p 2 The first two order coefficients of the eccentric distortion, respectively. Considering the effect of depth of field on lens imaging distortion, the radial distortion coefficient can be expressed by equation (11):
wherein the content of the first and second substances,
is a magnification factor, and
respectively, the focus distance within the depth of field is s n 、s m 、s k I-th order radial distortion coefficient on the focal plane. For a real camera in monocular stereoscopic vision, a checkerboard standard object is used as a calibration plate, the calibration plate is kept perpendicular to the optical axis of the real camera, and the calibration plate is placed in the depth of field range along the optical axis so as to be respectively positioned at a focusing distance s m And s k On two focal planes. Then, the radial distortion coefficients of each order on the two focusing planes are calculated respectively
And
finally, the focusing distance s can be calculated by the formula (11) n Is the ith radial distortion coefficient on the focusing plane
After the virtual camera is processed by the same method, radial distortion coefficients of each order of the real camera and the virtual camera can be obtained.
The off-center distortion factor that takes into account the effect of the depth of field factor can be expressed as equation (12):
wherein, the first and the second end of the pipe are connected with each other,
and
respectively, the focus distance within the depth of field is s n And s m The ith order eccentric distortion coefficient on the two pairs of focal planes, and f is the focal length of the lens. For a real camera in monocular stereoscopic vision, a checkerboard standard object is used as a calibration plate, the calibration plate is kept perpendicular to the optical axis of the real camera, and the calibration plate is placed in the depth of field range along the optical axis so as to be in focus at a distance s m On the focal plane of (a). Then, the eccentric distortion coefficient of each order on the focusing plane is calculated
Finally, the focusing distance s can be calculated by the formula (12) n Is the ith radial distortion coefficient on the focusing plane
After the virtual camera is processed by the same method, the eccentric distortion coefficients of each order of the real camera and the virtual camera can be obtained.
3) Internal and external parameter calibration
And 2) respectively obtaining coefficients of each order of radial distortion and eccentric distortion in the visual models of the real camera and the virtual camera. Then, in order to avoid the influence of the solving error of the visual internal and external parameters on the distortion coefficient, the value of the distortion coefficient is respectively fixed for each camera, the distance provided by the checkered corner points is used as constraint, the LM algorithm is adopted to optimize and solve the internal parameter matrix and the external parameter matrix, and K is respectively obtained r 、K v 、[R r T r ]And [ R ] v T v ]. Finally, a conversion matrix [ R ' T ' between real camera and virtual camera is computed ']。
And further completing the calibration of the parameters of the stereoscopic vision model of the single plane mirror.
The beneficial results of the invention are that the imaging model and the three-dimensional measurement model of the single plane mirror stereoscopic vision are established by means of the reflection matrix of the plane mirror, the measurement principle of the single plane mirror stereoscopic vision is explained, and the model is simple and easy to implement. In addition, the method for calibrating the parameters of the visual model step by step is provided, and the problem that the calibration precision of the parameters of the model is reduced due to the interactive influence of errors is avoided by calibrating the distortion coefficients and then optimizing and solving the internal and external parameters, so that the error solving precision of the stereoscopic vision of the single plane mirror is effectively improved.
Drawings
FIG. 1 is a schematic diagram of a single plane mirror stereovision system.
FIG. 2 is a flow chart of calibration of parameters of a single plane mirror stereo vision model.
In the figure: 1-real camera, 2-plane mirror, 3-virtual camera.
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the technical solutions and the attached fig. 1 and 2.
FIG. 1 is a schematic diagram of a single plane mirror stereovision system. FIG. 2 is a flow chart of calibration of parameters of a single plane mirror stereo vision model.
The invention relates to a calibration method for parameters of a stereoscopic vision model of a single plane mirror, which comprises the steps of establishing a vision model and solving parameters of the model. Firstly, introducing a reflection matrix of a plane mirror 2 into a monocular imaging model to respectively obtain visual imaging models of a real camera 1 and a virtual camera 3; on the basis, a three-dimensional reconstruction formula of the space point is deduced; in the aspect of calibrating the model parameters, each parameter of the monocular stereoscopic vision model is calibrated by adopting a step method, wherein the step method is to calibrate the initial values of the parameters in the two cameras in a small range of the central area of the image. And then, respectively calibrating the radial distortion coefficient and the eccentric distortion coefficient of the two cameras within the field depth range, finally locking the distortion coefficients of the two cameras, and completing the calibration of the monocular stereoscopic vision model parameters on the basis of optimally solving the respective internal parameters and external parameters of the two cameras by utilizing an LM algorithm. In an embodiment of the invention, the plane mirror 2 is perpendicular to the world coordinate system o w -x w y w z w O of (a) w x w z w Placed in a plane with w x w The included angle of (a) is 90 deg.. o r -x r y r z r Distance to plane mirror 2 is 100mm, o of coordinate system of real camera 1 r x r z r O of plane and world coordinate system w x w z w And (6) overlapping. Let the real camera coordinate system o r -x r y r z r The coordinates of the lower spatial point are
The theoretical focal length of the camera is 17mm and the camera resolution is 2560 pixels × 2560 pixels. The following detailed description is made of specific embodiments:
1. monocular vision model
The monocular stereoscopic vision system consisting of a flat mirror 2 and a camera comprises two cameras: a real camera 1 and a virtual camera 3. For the real camera 1, let the transformation matrix between the real camera coordinate system and the world coordinate system, i.e. the extrinsic parameter matrix of the real camera 1 be [ R r T r ]Program code for creating a visual model of the real camera 1 is compiled according to equation (1). For the virtual camera 3, let the virtual camera coordinate system o v -x v y v z v And the world coordinate system, i.e. the external parameter matrix of the virtual camera 3 is [ R ] v T v ]The program code of the visual model of the virtual camera 3 is compiled according to equation (2).
Introducing a normal vector of the plane mirror 2, and establishing P according to a formula (3) according to the symmetry property of the plane mirror 2 v (x v y v z v ) And P r (x r y r z r ) And developing the formula (3) to obtain a formula (4). Then, based on the result of the formula (4), the formula (2) is rearranged to obtain the formula (5), and the code of the content shown in the formula (5) is programmed.
2. Monocular stereoscopic vision three-dimensional measurement model
The formula (6) is obtained by sorting the formula (1), and the formula (2) is obtained by sorting the formula (1)Equation (7). Then, p (u) is established according to formula (3), formula (4), formula (5), formula (6) and formula (7) r v r ) And p (u) v v v ) The relationship between them, the formula (8) is obtained. And finally, expanding the formula (8) to obtain a formula (9), namely completing the establishment of the monocular stereoscopic vision three-dimensional measurement model, and compiling a code of the content shown in the formula (9) in a program.
3. Visual model parameter calibration
1) Initial value calibration of internal parameter
Under the condition of no distortion, calibrating the parameter matrix K in the camera by using the Zhang calibration method r And K v The code of the lens distortion is programmed by referring to the formula (10), and the internal parameter f =17.24mm of the camera model is solved by adopting a Zhang Zhengyou calibration method.
2) Distortion coefficient calibration
The radial distortion coefficient code shown in formula (11) is prepared in consideration of the influence of the depth factor on the lens imaging distortion. For a real camera 1 in monocular stereoscopic vision, a checkerboard standard object is used as a calibration plate, the calibration plate is kept perpendicular to an optical axis of the real camera 1, and the calibration plate is placed in a depth of field range along the optical axis so as to be respectively positioned at a focus distance s m =300mm and s k =400mm in two focal planes. Firstly, the focusing distance s is calculated m The first two-order radial distortion coefficients on the focal plane of =300mm, respectively
And
calculating to obtain the focus distance s k The first two-order radial distortion coefficients on the focusing plane of =400mm, respectively
And
the focusing distance s is obtained by calculation of the formula (11) n =350mmFirst two-order radial distortion coefficient on focusing plane
And
calibrating the radial distortion coefficient of the virtual camera 3 by the same method, wherein two focusing distance values used in the experiment are consistent with the two focusing distance values of the real camera 1, and the focusing distance s is obtained by calculation through a formula (11) n First two-order radial distortion coefficient on focal plane of =350mm
And
programming a program code corresponding to the eccentric distortion coefficient shown in the formula (12), regarding the real camera 1 in the monocular stereoscopic vision, taking a checkerboard standard object as a calibration plate, keeping the calibration plate vertical to the optical axis of the real camera 1, and placing the calibration plate in the depth of field range along the optical axis so that the calibration plate is in focus at a distance s m On a focal plane of =300mm, the calculated first two-order eccentricity distortion coefficients on the focal plane are respectively
And
then, the focal distance s is calculated according to the formula (12) n The first two eccentric distortion coefficients of 350mm are respectively
And
the eccentric distortion coefficient of the virtual camera 3 is calibrated by the same method, the focusing distance value used in the experiment is also 300mm, and the focusing distance value is obtained through the formula (12)Calculating to obtain the first two-order eccentric distortion coefficient on a focusing plane with the focusing distance of 350mm
And
through the steps, the radial distortion coefficient and the eccentric distortion coefficient on any focusing plane in the depth of field are solved.
3) Intrinsic and extrinsic parameter calibration
By 2) the respective order coefficients of radial distortion and eccentric distortion in the visual model of the real camera 1 and the virtual camera 3 can be obtained respectively. Then, in order to avoid the influence of the solving error of the visual internal and external parameters on the distortion coefficient, the value of the distortion coefficient is respectively fixed for each camera, the distance of the checkered corner points is taken as constraint, the LM algorithm is adopted to optimize and solve the internal parameters and the external parameters in the visual model, and the obtained internal parameter matrix is
Finally, by
And
computing a conversion matrix [ R ' T ' between real Camera 1 and virtual Camera 3 ']，
Finally, the calibration of the parameters of the monocular stereoscopic vision model is completed.
The invention relates to a calibration method for parameters of a stereoscopic vision model of a single plane mirror. An imaging model and a three-dimensional measurement model of the single plane mirror stereoscopic vision are established according to the reflection matrix of the plane mirror, and the model is simple and convenient to use. In addition, the parameters in the visual model are calibrated by a step-by-step method, and the distortion coefficient is calibrated first and then the internal and external parameters are calibrated in the method, so that the interaction influence among model parameter errors is avoided, and the calibration precision of the model parameters is improved.
Claims (1)
1. A calibration method for parameters of a monocular mirror stereoscopic vision model is characterized in that a monocular stereoscopic vision model is built, parameters in the model are solved, and in the aspect of building a measurement model, a reflection matrix of a mirror is introduced into a monocular imaging model to obtain visual imaging models of a real camera and a virtual camera respectively; on the basis, a three-dimensional measurement model of monocular stereovision is deduced; in the aspect of model parameter calibration, various parameters of a monocular stereoscopic vision model are calibrated by adopting a step method, wherein the step method is to solve initial values of internal parameters in a real camera model and a virtual camera model in a small range of an image central area; then, respectively calibrating the radial distortion coefficient and the eccentric distortion coefficient of the two cameras in the field depth range; finally, on the premise of locking distortion coefficients of the two cameras, respectively carrying out optimization solution on internal parameters and external parameters in respective models, and realizing calibration of parameters of the stereoscopic vision model of the single plane mirror; the calibration method for the parameters of the stereoscopic vision model of the single plane mirror comprises the following specific steps:
(1) Monocular vision model
The monocular stereoscopic vision system composed of a plane mirror and a camera equivalently comprises two cameras: a real camera and a virtual camera; for real cameras, let the real camera coordinate system o r -x r y r z r The lower spatial point is P r (x r y r z r ) Real camera coordinate system and world coordinate system o w -x w y w z w The transformation matrix between, i.e. the extrinsic parameter matrix of the real camera is [ R ] r T r ]；p(u r v r ) Is a space point directly on an image surface coordinate system o without a reflector r -u r v r The visual model of the real camera is expressed by formula (1) as:
wherein s is r Is a scale factor, alpha r And beta r Are respectively defined as u r 、v r Normalized focal length in both axial directions, (u) 0 v 0 ) Coordinates of an intersection point of a real camera optical axis and an imaging plane;
for the virtual camera, let the virtual camera coordinate system o v -x v y v z v And the world coordinate system o w -x w y w z w The transformation matrix between, i.e. the extrinsic parameter matrix of the virtual camera is [ R ] v T v ](ii) a The visual model of the virtual camera is represented by equation (2):
wherein, p (u) v v v ) Virtual image point, P v (x v y v z v ) Is P r (x r y r z r ) A point of symmetry about the plane mirror; s v Is a scale factor, alpha v And beta v Are respectively defined as u v 、v v Normalized focal length in two axis directions;
according to the mirror symmetry property, P v (x v y v z v ) And P r (x r y r z r ) The relationship between them is expressed by equation (3):
unfolding to obtain:
wherein (n) x n y n z ) Is a unit normal vector of the plane mirror, satisfies n x ·n x +n y ·n y +n z ·n z =1; d is the real camera coordinate system o r -x r y r z r Origin o r A vertical distance to a plane; equation (2) is then re-expressed as:
wherein the content of the first and second substances,
and
respectively correspond to o r -x r y r z r And o v -x v y v z v A rotation matrix and a translation matrix in between;
(2) Monocular stereoscopic vision three-dimensional measurement model
The formula (1) is arranged to obtain:
obtaining by arranging the formula (2):
as is known from formula (3), formula (4), formula (5), formula (6) and formula (7), p (u) r v r ) And p (u) v v v ) The relationship between them is expressed by equation (8):
the coordinates of the space points in the real coordinate system are solved by the following formula:
formula (9) is the established three-dimensional measurement model of monocular stereoscopic vision;
(3) Visual model parameter calibration
1) Initial value calibration of internal parameter
Considering the influence of distortion, solving a parameter matrix K in the camera by using a Zhang calibration method in a small range of the central area of the image r And K v Obtaining the focal length f of the lens;
2) Distortion coefficient calibration
Manufacturing and assembling defects of the lens may cause radial distortion and eccentric distortion, and the lens distortion is expressed by equation (10):
wherein, (u v) is the image point coordinate; delta u 、Δ v The distortion produced for an image point is at the horizontal axis u of the image r (u v ) And a vertical axis v r (v v ) The component of (a);
is the distortion radius; k is a radical of 1 、k 2 First two order coefficients, p, of radial distortion, respectively 1 And p 2 The first two order coefficients of the eccentric distortion respectively; considering the effect of depth of field on lens imaging distortion, the radial distortion coefficient is expressed by equation (11):
wherein the content of the first and second substances,
is a magnification factor, and
respectively, the focus distance within the depth of field is s n 、s m 、s k The ith radial distortion coefficient on the focusing plane; for a real camera in monocular stereoscopic vision, a checkerboard standard object is used as a calibration plate, the calibration plate is kept perpendicular to the optical axis of the real camera, and the calibration plate is placed in the depth of field range along the optical axis so as to be respectively positioned at a focusing distance s m And s k On two focusing planes; then, the radial distortion coefficients of each order on the two focusing planes are calculated respectively
And
i =1,2; finally, the focusing distance s is obtained by calculation of formula (11) n Is the ith radial distortion coefficient on the focusing plane
After the virtual camera is processed by the same method, radial distortion coefficients of each order of the real camera and the virtual camera are obtained;
the off-center distortion coefficient considering the effect of the depth of field factor is expressed by equation (12):
wherein the content of the first and second substances,
and
respectively, the focus distance within the depth of field iss n And s m The ith order eccentric distortion coefficient on the two pairs of focal planes, and f is the focal length of the lens; for a real camera in monocular stereoscopic vision, a checkerboard standard object is used as a calibration plate, the calibration plate is kept perpendicular to the optical axis of the real camera, and the calibration plate is placed in the depth of field range along the optical axis so as to be in focus at a distance s m On the focusing plane; then, the eccentric distortion coefficient of each order on the focusing plane is calculated
Finally, the focusing distance s can be calculated by a formula n Is the ith radial distortion coefficient on the focusing plane
After the virtual camera is processed by the same method, the eccentric distortion coefficients of each order of the real camera and the virtual camera are obtained;
3) Internal and external parameter calibration
Respectively obtaining coefficients of each order of radial distortion and eccentric distortion in the visual models of the real camera and the virtual camera through the step 2); then, in order to avoid the influence of the solving error of the visual internal and external parameters on the distortion coefficient, the value of the distortion coefficient is respectively fixed for each camera, the distance provided by the checkered corner points is used as constraint, the LM algorithm is adopted to optimize and solve the internal parameter matrix and the external parameter matrix, and K is respectively obtained r 、K v 、[R r T r ]And [ R ] v T v ](ii) a Finally, a conversion matrix [ R ' T ' between real camera and virtual camera is computed ']；
And further completing the calibration of the parameters of the stereoscopic vision model of the single plane mirror.
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