cameracalibrate_dalg.m

摄像机圆球标定程序（包括SDP,DSDP,IDC,DIDC,ALG,DALG六种算法的实现）

function [K r3 a]=CameraCalibrate_DALG(Cstar)

s12=compute_sij(Cstar{1},Cstar{2});
s13=compute_sij(Cstar{1},Cstar{3});
count=0;
r3={};
a={};
K={};
vbar={};
for i=1: size(s12,1)
    for j=1:size(s13,1)
        s12_=s12(i);
        s13_=s13(j);
        Cstar_{1}=Cstar{1};
        Cstar_{2}=Cstar{2}*s12_;
        Cstar_{3}=Cstar{3}*s13_;
        
         [wstar A pp]=ComputeW_D(Cstar_,1,1);
%        vbar=ComputeV(C_);
%        [w A pp]=ComputeW(C_,vbar);
       
        if is_positive(wstar)
            K_=ComputeK_Wstar(wstar);
%             if validate_K(K_,C_);
%                count=count+1;
%                K{count}=K_;
%             end
            count=count+1;
            K{count}=K_;
            vbar{count}=ComputeV(Cstar_);
        end
    end
end


%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%recover from
[r3 a]=RecoverExtrincStar(Cstar,K,vbar);