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/extract_parameters3D.m
%%% Extraction of the final intrinsic and extrinsic paramaters: fc = solution(1:2); kc = solution(3:6); cc = solution(6*n_ima + 4 +3:6*n_ima + 5 +3); % Calibration matrix: KK = [fc(1) 0 cc(1);0 fc(2) cc(2); 0 0 1]; inv_KK = inv(KK); % Extract the extrinsic paramters, and recomputer the collineations for kk = 1:n_ima, omckk = solution(4+6*(kk-1) + 3:6*kk + 3); Tckk = solution(6*kk+1 + 3:6*kk+3 + 3); Rckk = rodrigues(omckk); Hlkk = KK * [Rckk(:,1) Rckk(:,2) Tckk]; Hlkk = Hlkk / Hlkk(3,3); eval(['omc_' num2str(kk) ' = omckk;']); eval(['Rc_' num2str(kk) ' = Rckk;']); eval(['Tc_' num2str(kk) ' = Tckk;']); eval(['Hl_' num2str(kk) '=Hlkk;']); end;