MPL-B420F-M-X225

MPL-B420F-M-X225

坐标系(Xw,Yw,Zw)：目标物体位置的参考系。除了无穷远，坐标可以根据运算方便与否自由放置，单位为长度单位如mmmm。。在双目视觉中坐标系主要有三个用途：

标定时确定标定物的位置；

作为双目视觉的系统参考系，给出两个摄像机相对坐标系的关系，从而求出相机之间的相对关系；

作为重建得到三维坐标的容器，存放重建后的物体的三维坐标。坐标系是将看见中物体纳入运算的第一站。

摄像机坐标系(Xc,Yc,Zc)：摄像机站在自己角度上衡量的物体的坐标系。摄像机坐标系的原点在摄像机的光心上，zz轴与摄像机光轴平行。它是与拍摄物体发生联系的桥头堡，坐标系下的物体需先经历刚体变化转到摄像机坐标系，然后在和图像坐标系发生关系。它是图像坐标与坐标之间发生关系的纽带，沟通了上远的距离。单位为长度单位如mmmm。

图像坐标系(x,y)(x,y):以CCD 图像平面的中心为坐标原点，为了描述成像过程中物体从相机坐标系到图像坐标系的投影透射关系而引入，方便进一步得到像素坐标系下的坐标。图像坐标系是用物理单位（例如毫米）表示像素在图像中的位置。

像素坐标系(u,v)(u,v) ：以 CCD 图像平面的左上角顶点为原点，为了描述物体成像后的像点在数字图像上（相片）的坐标而引入，是我们真正从相机内读取到的信息所在的坐标系。像素坐标系就是以像素为单位的图像坐标系。

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