cameracalibrate_dsdp.asv

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_DSDP(Cstar)

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

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%recover from
if size(K,2)>=1
    K_=K{1};
    [r3 a]=RecoverExtrincStar(Cstar,K_,vbar);
end