记住，此时主光线就是主点光线。
卖主点头称是，边道：“再来黄色的？”
利用标定物直线边缘的图像，并运用优化的方法来计算成像系统的畸变系数和主点位置。
According to image of linear edges in calibration object, the distortion coefficient and position of principal point of imaging system can be calculated by optimization method.
然后把摄像机内参数矩阵分解为有效焦距与主点位置两部分，并利用最小二乘法分别对其进行求解。
The intrinsic parameters are separated into two parts of focal length and coordinates for the principle point, which are then solved by using the least square method.
其次，提出了综合利用空间平行线约束和相机主点位置约束的线性迭代自定标方法，提高了相机自定标的鲁棒性。
Secondly, a new method with scene constraint and the constraint of principal point for camera self-calibration based on the linear iteration is presented.
其次，提出了综合利用空间平行线约束和相机主点位置约束的线性迭代自定标方法，提高了相机自定标的鲁棒性。
Secondly, a new method with scene constraint and the constraint of principal point for camera self-calibration based on the linear iteration is presented.
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