recoverextrinc.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 [r3 a]=RecoverExtrinc(C,K,vbar)
% r3=[];
% a=[];
% return;
a_={};
r3_={};
    for j=1:size(K,2)
        K_=K{j};
        vbar_=vbar{j};
        a__={};
        r3__={};
        for i=1:3
            K__=K_;
            vbar__=vbar_{i};
            %%%%%%%%%%%%%%%%%%%%%%%
            %method 1
            RQRt=K__'*C{i}*K__;
            [V D]=eig(RQRt);
            a__{i}=find_a(diag(D));
            
            r3__{i}=K__'*(vbar__);
            r3__{i}=r3__{i}/norm(r3__{i});
        end
        a_{j}=a__;
        r3_{j}=r3__;
    end
    r3=r3_;
    a=a_;