针对结构光形位公差视觉测量系统，提出了一阶径向畸变的摄像机成像模型和标定方法，并对传统的直接线性变换（DLT变换）标定算法做了些改进。即先针对没有畸变的线性模型，利用传统的标定算法，解线性超定方程组求解摄像机的全部参数，再针对引入一阶径向畸变的成像模型，以线性模型的参数为初值，通过非线性迭代优化摄像机的图像中心，等效焦距，倾斜因子，畸变系数等内部参数。实验结果表明，该方法无需预标定，精度适中，是相对简单实用的标定方法。

A camera imaging model with radial distortion, used for a structured light vision system to measure geometric tolerance, is introduced in this paper, together with an improved calibration of Direct Linear Transformation (DLT). First, with traditional calibration technique used on linear model, all the parameters can be worked out through solving super linear equations; second, with the results of first step as initial value, the inner parameters, such as Center Of Image, Equivalent Foci, Slope Factor, Coefficient Of Distortion, can be worked out through non linear iteration. Pre calibration is not necessary in calibration with this method. The method performs with suitable accuracy, and is proved to be simple and practical.