minparams_fun.m

一个很好用的摄像机标定程序

function Res = minParams_fun( X0 )

global Gfl;
global Gu0;
global Gv0;
global Gb1;
global Gb2;
global GoldP;
global GSp;
global GA;
global GIpts;
global GHSp;
global Gno_views;
global count;

Gfl = X0(1,1);
Gu0 = X0(1,2);
Gv0 = X0(1,3);
Gb1 = X0(1,4);
Gb2 = X0(1,5);

[T, R, fl, u0, v0, b1, b2, GPC, errstat] = iterateThem;	
	if( fl < 0 )
		fl = 1;
	end	
	Gfl = fl;
	Gu0 = u0;
	Gv0 = v0;	
	Gb1 = b1;
	Gb2 = b2;
	if( (Gb1^2 + Gb2^2) > 1 )
		Gb1 = 0;
		Gb2 = 0;
	end	
	count = count+1
	%gerrs(:,count) = errstat;	
	disp( sprintf( 'fl: %f, u0: %f, v0: %f, b1: %f, b2: %f\n', fl, u0, v0, b1, b2 ) ); 

Res = errstat(1,1);