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/error_depth.m
function err_shape = error_depth(param_dist,xcn,xpn,R,T,X_shape,ind); X_new = depth_compute(xcn,xpn,[param_dist],R,T); N_pt_calib = size(xcn,2); % UnNormalized shape extraction: X_shape2 = X_new; X_shape2 = X_shape2 - (X_shape2(:,1)*ones(1,N_pt_calib)); % map the second vector at [1;0;0]: omu = -cross([1;0;0],X_shape2(:,2)); omu = acos((dot([1;0;0],X_shape2(:,2)))/norm(X_shape2(:,2)))*(omu / norm(omu)); Ru = rodrigues(omu); X_shape2 = Ru* X_shape2; omu2 = -cross([0;1;0],[0;X_shape2(2:3,ind)]); omu2 = acos((dot([0;1;0],[0;X_shape2(2:3,ind)]))/norm([0;X_shape2(2:3,ind)]))*(omu2 / norm(omu2)); Ru2 = rodrigues(omu2); X_shape2 = Ru2* X_shape2; % Error: err_shape = X_shape2(:,2:end) - X_shape(:,2:end); err_shape = err_shape(:); %err_depth = Z_new - Z_ref;