Camera calibration for robotic arm snatch, etc. (using calibration to map points on the image to three-dimensional coordinates)

in the laboratory or engineering, we often need to calculate the two-dimensional image coordinates of the captured image to compute three-dimensional coordinates.

As shown, we have such a picture. We need to calculate the three-dimensional position of the object and the manipulator so that the manipulator can grasp the object precisely.

We use the Zhang Zhengyu calibration method to calibrate the internal and external parameters and calculate the corresponding three-dimensional coordinates by using the external parameters. Specific formula slightly! You can refer to Zhang Pami's paper.

/*///author:yeahpingye//function://time:2014/11/25////////////*/#include 
The coordinates of the true first checkerboard (969.449,635.648) corresponding to the above-mentioned pixels (90,60,0) are less than the resulting error.
Detailed procedures and related documents see the URL (vs2013 configuration OpenCV can be run directly): http://download.csdn.net/detail/zhouyelihua/8218649


Camera calibration for robotic arm snatch, etc. (using calibration to map points on the image to three-dimensional coordinates)