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/skew3.m
function [S,dSdT] = skew3(T); S = [ 0 -T(3) T(2) T(3) 0 -T(1) -T(2) T(1) 0 ]; dSdT = [0 0 0;0 0 1;0 -1 0 ;0 0 -1;0 0 0;1 0 0 ;0 1 0;-1 0 0; 0 0 0]; return; % Test of Jacobian: T1 = randn(3,1); dT = 0.001*randn(3,1); T2 = T1 + dT; [S1,dSdT] = skew3(T1); [S2] = skew3(T2); S2app = S1; S2app(:) = S2app(:) + dSdT*dT; norm(S1 - S2) / norm(S2app - S2)