genconic_iac.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 [C Cstar K R a]=GenConic_IAC() 

K=GenCameraParameter();
rand1=rand();
rand2=rand();
rand3=rand();
% o=15*pi/180;
o=rand()*180*(pi/180);
a{1}=tan(o/2);
Q=[1 0 0 0;0 1 0 0;0 0 -a{1}*a{1} 0;0 0 0 0];
Qbar=Q(1:3,1:3);
% r1=[-25 -45 -25]';
% r1=11*[10 2 3];
r1=[rand() rand() rand()]*360;
R{1}=r2R(r1);
C{1}=(inv(K)')*(inv(R{1})')*Qbar*inv(R{1})*inv(K)*(rand1);

% -a{1}*a{1}
% R{1}
% [V D]=eig((inv(R{1})')*Qbar*inv(R{1}))
% o=20*pi/180;
o=rand()*180*(pi/180);
a{2}=tan(o/2);
Q=[1 0 0 0;0 1 0 0;0 0 -a{2}*a{2} 0;0 0 0 0];
Qbar=Q(1:3,1:3);
% r2=[-20 -25 -30]';
% r2=35*[3 20 4];
r2=[rand() rand() rand()]*360;
R{2}=r2R(r2);
C{2}=(inv(K)')*(inv(R{2})')*Qbar*inv(R{2})*inv(K)*(rand2);

% o=39*pi/180;
o=rand()*180*(pi/180);
a{3}=tan(o/2);
Q=[1 0 0 0;0 1 0 0;0 0 -a{3}*a{3} 0;0 0 0 0];
Qbar=Q(1:3,1:3);
% r3=[40 30 20]';
% r3=40*[3 1 50];
r3=[rand() rand() rand()]*360;
R{3}=r2R(r3);
C{3}=(inv(K)')*(inv(R{3})')*Qbar*inv(R{3})*inv(K)*(rand3);

Cstar{1}=inv(C{1});
Cstar{2}=inv(C{2});
Cstar{3}=inv(C{3});

for i=1:3
    -a{i}*a{i}
    R{i}
end