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/align_structures.m
function [om,T,Y] = align_structures(X1,X2), % Find om (R) and T, such that Y = R*X1 + T is as close as % possible to X2. [m,n] = size(X1); % initialization: % initialize param to no motion: param = zeros(6,1); change = 1; while change > 1e-6, om = param(1:3); T = param(4:6); [Y,dYdom,dYdT] = rigid_motion(X1,om,T); J = [dYdom dYdT]; err = X2(:) - Y(:); param_up = inv(J'*J)*J'*err; param = param + param_up; change = norm(param_up)/norm(param); end; om = param(1:3); T = param(4:6); [Y,dYdom,dYdT] = rigid_motion(X1,om,T);