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