zhongxin.m

从公路路面光条中心图像中提取光条中点的坐标

120 149.7139 0
0 134.9973 25];
gk=[-1 -1 -1]';
f=GK\gk;
a=f(1);
b=f(2);
c=f(3);
%光平面方程为x-68y-33z+10000=0;

%利用标定块验证标定精度,标定块尺寸为35.3*60.4
%提取标定块2个边沿点坐标

si=size(I);
E=ones(1,si(2));
I0 =[ I
 E];
XD=inv(A)*I0;
xd=[XD(1,:);XD(2,:)];
l=size(I0);
for i=1:l(2)
  r(i)=xd(1,i).^2+xd(2,i).^2;
  xn(:,i)=xd(:,i)/(1+kc(1)*r(i)+kc(2)*r(i)*r(i));
end
clear K k W
for j=1:l(2)
      K=[R(1,1) R(1,2) R(1,3) -xn(1,j);
     R(2,1) R(2,2) R(2,3) -xn(2,j);
     R(3,1) R(3,2) R(3,3) -1;
     a        b       c   0];
k=[-T(1) -T(2)  -T(3) -1]';
bb=K\k;
xw=[bb(1) bb(2) bb(3)]';
W(:,j)=xw;
end
W;

W1=W(1,:);
W2=W(2,:);
W3=W(3,:);
%W3(1)=0;
%grid on
plot(W1(2:sk(2)),W3(2:sk(2)))


[W1(2:sk(2))' W2(2:sk(2))' W3(2:sk(2))']

 w3(1)=0;
 for i=2:538

  w3(i)=W3(i)-W3(i-1);
  
  end
plot(W1,w3)