sanjiaoceliang.m

来自「经典的张正友的摄像机的两步标定程序」· M 代码 · 共 49 行

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.';
[XL,XR] = stereo_triangulation(xL,xR,om,T,fc_left,cc_left,kc_left,alpha_c_left,fc_right,cc_right,kc_right,alpha_c_right);
%save('sanweizuobiao1.txt', 'XL');
XL_X=XL(1,:);
XL_Y=XL(2,:);
XL_Z=XL(3,:);
%plot3(XL_X,XL_Y,XL_Z);
plot3(XL(1,1:13),XL(2,1:13),XL(3,1:13),XL(1,14:26),XL(2,14:26),XL(3,14:26),XL(1,27:39),XL(2,27:39),XL(3,27:39),XL(1,40:52),XL(2,40:52),XL(3,40:52),XL(1,53:65),XL(2,53:65),XL(3,53:65),XL(1,66:78),XL(2,66:78),XL(3,66:78),XL(1,79:91),XL(2,79:91),XL(3,79:91),XL(1,92:104),XL(2,92:104),XL(3,92:104),XL(1,105:117),XL(2,105:117),XL(3,105:117),XL(1,118:130),XL(2,118:130),XL(3,118:130),XL(1,131:143),XL(2,131:143),XL(3,131:143),XL(1,144:156),XL(2,144:156),XL(3,144:156));
%plot3(XL(1,14:26),XL(2,14:26),XL(3,14:26));
%plot3(XL_X,XL_Y,XL_Z,'.');画点的
hold on,
plot3(XL(1,1:13:156),XL(2,1:13:156),XL(3,1:13:156),'b');
hold on,
plot3(XL(1,2:13:156),XL(2,2:13:156),XL(3,2:13:156),'g');
hold on,
plot3(XL(1,3:13:156),XL(2,3:13:156),XL(3,3:13:156),'c');
hold on,
plot3(XL(1,4:13:156),XL(2,4:13:156),XL(3,4:13:156),'m');
hold on,
plot3(XL(1,5:13:156),XL(2,5:13:156),XL(3,5:13:156),'y');
hold on,
plot3(XL(1,6:13:156),XL(2,6:13:156),XL(3,6:13:156),'k');
hold on,
plot3(XL(1,7:13:156),XL(2,7:13:156),XL(3,7:13:156),'r');
hold on,
plot3(XL(1,8:13:156),XL(2,8:13:156),XL(3,8:13:156),'b');
hold on,
plot3(XL(1,9:13:156),XL(2,9:13:156),XL(3,9:13:156),'c');
hold on,
plot3(XL(1,10:13:156),XL(2,10:13:156),XL(3,10:13:156),'m');
hold on,
plot3(XL(1,11:13:156),XL(2,11:13:156),XL(3,11:13:156),'y');
hold on,
plot3(XL(1,12:13:156),XL(2,12:13:156),XL(3,12:13:156),'k');
hold on,
plot3(XL(1,13:13:156),XL(2,13:13:156),XL(3,13:13:156),'r');