mytest.m

Matlab张氏标定法

M = M';
m = m';
Row = size(M);
Temp = zeros(Row*2,9);
Temp(1:Row,1) = M(:,1);
Temp(1:Row,2) = M(:,2);
Temp(1:Row,3) = M(:,3);
Temp(Row+1:Row*2,4) = M(:,1);
Temp(Row+1:Row*2,5) = M(:,2);
Temp(Row+1:Row*2,6) = M(:,3);
for i=1:Row
    Temp(i,7) = -m(i,1,1)*M(i,1);
    Temp(i,8) = -m(i,1,1)*M(i,2);
    Temp(i,9) = -m(i,1,1)*M(i,3);
    Temp(Row+i,7) = -m(i,2,1)*M(i,1);
    Temp(Row+i,8) = -m(i,2,1)*M(i,2);
    Temp(Row+i,9) = -m(i,2,1)*M(i,3);
end
HH = [];
Temp*H