fitconic.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]=FitConic(points,Ct)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%points=[x y 1]'
A=[points(1,:).*points(1,:)];
A=[A;2.*points(1,:).*points(2,:)];
A=[A;points(2,:).*points(2,:)];
A=[A;2.*points(1,:)];
A=[A;2.*points(2,:)];
A=[A;points(3,:)];
A=A';
%solve A*p=0
[U S V]=svd(A);
p=V(:,6);
C=[p(1) p(2) p(4);p(2) p(3) p(5);p(4) p(5) p(6)];

if nargin>1
    disp('实际图像误差');
    sum(A*p)
    pt=[Ct(1,1) Ct(1,2) Ct(2,2) Ct(1,3) Ct(2,3) Ct(3,3)]';
    disp('理论图像误差');
    sum(A*pt)
end