摄影测量学发展而来的直接线性变换(DLT)方法和扩展的直接线性变换方法，有基于径向排列约束(RAC)

的两步法(Tsai方法)，有基于不同位置平面模板的张正友法(Zhang)，也有基于摄像机本身移动无需外部标

定物的自标定方法。

OpenCV是Intel开源计算机视觉库，它由一系列c函数和少量C++类构成，具有强大的图像处理、图

像分析和图像理解功能，它的函数实现了很多经典的图像处理和计算机视觉方面的算法，是机器视觉研究

与开发的良好工具。-Photogrammetry developed from the direct linear transformation (DLT) method and the expansion of the direct linear transformation method, and a radial alignment constraint based on (RAC) of the two-step method (Tsai method), there are different positions on the template Zhang Zhengyou plane method (Zhang), also based on the camera itself, without external calibration object moving self-calibration method. OpenCV, Intel Open Source Computer Vision Library, which consists of a series of c functions and a small amount of C++ classes form a powerful image processing, image analysis and image understanding functions, and its functions for a lot of the classic aspects of image processing and computer vision algorithms It is a good tool for machine vision research and development.