initerrs.m

一个很好用的摄像机标定程序

function [errs] = initErrs()
%DEVELOPMENT PHASE
%
% [errs] = initErrs()
%
% returns inital errors

global GA1;
global GA2;
global GA3;
global GA4;
global GA5;
global GA6;
global Gfl;
global Gu0;
global Gv0;
global Gb1;
global Gb2;
global GSp;
global GA;
global GIpts;
global GHSp;
global Gno_views;

HSpoints{1} = GHSp{1};

for i = 1:Gno_views
	eval( ['[Te' num2str(i) ', Re' num2str(i) ', errs(' num2str(i+1) ', 1)] = getTR( GA{' num2str(i) '}, Gfl, Gu0, Gv0, Gb1, Gb2, GHSp{' num2str(i) '}(:,1:2) );'] );
	eval( ['HTe' num2str(i) ' = eye( 4 );'] );
	eval( ['HRe' num2str(i) ' = eye( 4 );'] );
	eval( ['HTe' num2str(i) '(1:3,4) = Te' num2str(i) '(:,3);'] );
	eval( ['HRe' num2str(i) '(1:3,1:3) = Re' num2str(i) ';'] );
end

for i = 2:Gno_views
	eval( ['dKe' num2str(i) ' = inv( HTe1) * inv( HRe1 ) * HRe' num2str(i) ' * HTe' num2str(i) ';'] );
	eval( ['HSpoints{' num2str(i) '} = dKe' num2str(i) ' * hext( GHSp{' num2str(i) '})'';'] );
	eval( ['HSpoints{' num2str(i) '} = hnorm( HSpoints{' num2str(i) '}'');']);
end

PC = makePC( HSpoints, GIpts );

[AE, errstat] = estDLT( PC );

[Te, Re, Ine, Lae] = decDLT( AE );

T = eye( 3 );
T(:,3) = Te';

R = Re;

u0 = Ine(1,1);
v0 = Ine(1,2);
b1 = Ine(1,3);
b2 = Ine(1,4);
fl = Ine(1,5);

errs(1,1) = errstat(1,1);