cameracalibrate_diac.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_DIAC(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);
        Cstar_{1}=Cstar{1};
        Cstar_{2}=Cstar{2}*s12_;
        Cstar_{3}=Cstar{3}*s13_;
        
       vbar_=ComputeV(Cstar_);
       [wstar A pp]=ComputeW(Cstar_,vbar_);
       
        if is_positive(wstar)
            K_=ComputeK_Wstar(wstar);
%             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