computeerr.m

一个很好用的摄像机标定程序

function meanE = computeErr( fl, u0, v0, b1, b2, pos, rot, PC )
%
% meanE = computeErr( fl, u0, v0, b1, b2, pos, rot, PC )

T3D = eye(3);
T3D(:,4) = (pos.*-1);
R = euler_deg( rot );
AE = createDLT( fl, b1, b2, u0, v0, T3D, R );
%AE = createCDLT( fl, b1, b2, u0, v0, T, R );
pom = PC(:,1:3);
TT = AE * hext( pom )';
TT = hnorm( TT' );
VV = PC(:,4:5) - TT';
meanE = mean( vsize(VV(:,1:2));