相机标定详解

1、相机标定（camera resectioning or camera calibration）

Camera resectioning is the process of estimating the parameters of a pinhole camera model approximating the camera that produced a given photograph or video. Usually, the pinhole camera parameters are represented in a 3 × 4 matrix called the camera matrix.

2、四个坐标系之间的转换

参考
参考

将各式综合的结果
右边前两项的乘积称作内参矩阵
内参矩阵
而外参矩阵则由旋转矩阵R（3×3）和平移向量T（3×1）组成
外参矩阵

右边可以表示为

3、