Camera calibration method based on collimator optical geometric modeling

The invention belongs to the technical field of camera calibration, and relates to a collimator optical geometric modeling-based camera calibration method, which comprises the following steps of: setting a star-shaped calibration pattern on a collimator, and setting a coding mark at the center of the star-shaped calibration pattern; the star-shaped calibration pattern is shot from different directions to obtain more than two collected images, and the collected images comprise coding marks; extracting image features of the acquired image by adopting a star pattern feature extraction algorithm; based on the optical geometric law of the collimator, modeling the relative motion relationship between the calibration pattern and the camera into spherical motion to obtain a spherical motion model constraint, and combining the extracted image features to obtain initial parameters of the camera; constructing a target function for minimizing the sum of re-projection errors according to the acquired image; and solving th