gusucode.com > 基于matlab软件,实现双目视觉原理的摄像机标定,能根据各视场图像求内、外部参数 > 基于matlab软件,实现双目视觉原理的摄像机标定,能根据各视场图像求内、外部参数/TOOLBOX_calib/affine.m
function A = affine(X,n,om,T,fc,cc,alpha_c) if nargin < 7, alpha_c = 0; if nargin < 6, cc = [0;0]; if nargin < 5, fc = [1;1]; if nargin < 4, T = zeros(3,1); if nargin < 3, om = zeros(3,1); if nargin < 2, n = [0;0;-1]; if nargin < 1, error('Error: affine needs some arguments: A = affine(X,n,om,T,fc,cc,alpha_c);'); end; end; end; end; end; end; end; KK = [fc(1) alpha_c*fc(1) cc(1); 0 fc(2) cc(2);0 0 1]; R = rodrigues(om); omega = n / dot(n,X); x = X/X(3); H = KK * [R + T*omega'] * inv(KK); A = (H(3,3)*H(1:2,1:2) - H(1:2,3)*H(3,1:2) + (H(3,2)*H(1:2,1) - H(3,1)*H(1:2,2))*[x(2) -x(1)])/(H(3,:)*x)^2;