一幅双平面棋盘格的相纸，分别对两个面取角点进行标定后，可知（也可以是，已知CCD相机内参数）CCD的内参数(u0,v0,f,kc)和两个面各个点世界坐标(A double-planar checkerboard photographic paper, after calibration of the two surface pick-up points, we can see (can also be known CCD camera internal parameters) CCD internal parameters (u0, v0, f, kc) and two Face points World coordinates)