genconic.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 P]=GenConic()

%摄像机内参数
K=GenCameraParameter();

%第一个摄像位置
% r1=[-25 -45 -25]';
% R1=r2R(r1);
% t1=[25 45 25]';
r1=rand(3,1)*360;
R1=r2R(r1);
t1=rand(3,1)*500-250;
P{1}=K*R1*[eye(3,3) -t1];

%第二个摄像机位置
% r2=[-20 -25 -30]';
% R2=r2R(r2);
% t2=[20 25 30]';
r2=rand(3,1)*360;
R2=r2R(r2);
t2=rand(3,1)*500-250;
P{2}=K*R2*[eye(3,3) -t2];

%第三个摄像机位置
% r3=[40 30 20]';
% R3=r2R(r3);
% t3=[40 30 20]';
r3=rand(3,1)*360;
R3=r2R(r3);
t3=rand(3,1)*500-250;
P{3}=K*R3*[eye(3,3) -t3];

%球体参数设定
a=[0 0 0]';
r=-5;
Q=[eye(3,3) -a;-a' r];
b=1/(a'*a-r);
Qstar=[eye(3,3)-b*a*a' -b*a;-b*a' -b];

Cstar{1}=P{1}*Qstar*P{1}'*rand()*100;
Cstar{2}=P{2}*Qstar*P{2}'*rand()*100;
Cstar{3}=P{3}*Qstar*P{3}'*rand()*100;

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

%C{1}=(inv(K))'*(inv(R{1}))'*Q{1}*inv(R{1})*inv(K);
%C{2}=(inv(K))'*(inv(R{2}))'*Q{2}*inv(R{2})*inv(K);
%C{3}=(inv(K))'*(inv(R{3}))'*Q{3}*inv(R{3})*inv(K);