camcalt8.m

来自澳大利亚Qeensland大学的计算机视觉Matlab工具箱。 This Toolbox provides a number of functions that are useful in co

% optimization target function used by camcalt

%	Copyright (c) Peter Corke, 1999  Machine Vision Toolbox for Matlab

function e = eightb(z, params, xw, yw, zw, X, Y)
	%
	% unpack the unknowns
	%
	f = z(1);
	Tz = z(2);
	k1 = z(3);

	%
	% unpack the scalar parameters
	%
	r4 = params(1);
	r5 = params(2);
	r6 = params(3);
	r7 = params(4);
	r8 = params(5);
	r9 = params(6);
	dx = params(7);
	dy = params(8);
	sx = params(9);
	Ty = params(10);

	rsq = (dx*X).^2 + (dy*Y).^2;
	res = (dy*Y).*(1+k1*rsq).*(r7*xw+r8*yw+r9*zw+Tz) - f*(r4*xw+r5*yw+r6*zw+Ty);
	e = norm(res, 2);