sanwei11.m

来自「经典的张正友的摄像机的两步标定程序」· M 代码 · 共 34 行

%X=[20;30;1];
clear
xl=load('left_zhang1.txt');
xr=load('right_zhangdata1.txt');
load('Calib_Results_stereo.mat');

xL=[xl(:,1:2) ; xl(:,3:4) ; xl(:,5:6) ; xl(:,7:8);xl(:,9:10);xl(:,11:12);xl(:,13:14);xl(:,15:16);xl(:,17:18);xl(:,19:20);xl(:,21:22);xl(:,23:24)];
xR=[xr(:,1:2) ; xr(:,3:4) ; xr(:,5:6) ; xr(:,7:8);xr(:,9:10);xr(:,11:12);xr(:,13:14);xr(:,15:16);xr(:,17:18);xr(:,19:20);xr(:,21:22);xr(:,23:24)];
xL=xL.';
xR=xR.';

xxL(:,:)=xL(:,:)-cc_left
xxR(:,:)=xR(:,:)-cc_right
XLL= [xxL;ones(1,size(xL,2))];
XRR= [xxR;ones(1,size(xR,2))];


R = rodrigues(om);
M=cat(2,R,T);
MM=M;
%M(1,1)=M(1,1)*;
r2=M(1,2);
r3=M(1,3);
r4=M(2,1);
r5=M(2,2);
r6=M(2,3);
r7=M(3,1);
r8=M(3,2);
r9=M(3,3);
tx=M(1,4);
ty=M(2,4);
tz=M(3,4);

x=MM\sr;