%?[New_ANew_R_t]=My_DLT_Fcn（Imag_cornerWorld_points）%
%?**************************************************************
%?*******?????????用一個(gè)單視圖共點(diǎn)的點(diǎn)來(lái)校準(zhǔn)攝像機(jī)?????????*******
%?**************************************************************
%????????????????????????????8/5/2013???Joseph?Chen?
%????????????????????????????1240803839@qq.com??cgw@xjtu.edu.cn
%???????Input:?Imag_corner?is?a?N*2?vector?while?world_points?is?a?N*3?vector
%???????every?row?of?the?related?two?vector?must?refer?to?the?same?point
%
%?備注:????????Xf?Yf?xw?yw?zw?都是列向量
%?
%?（Xd?Yd）?????由于鏡頭畸變，實(shí)際的圖像坐標(biāo)與（XuYu）不同
%?（Xf?Yf）?????is?the?coordinate?used?in?the?computer?is?the?number?of
%?pixels?for?the?discrete?image?in?the?frame?memory?坐標(biāo)系用來(lái)計(jì)算
%?R????????????是一個(gè)3*3的旋轉(zhuǎn)矩陣
%??????????????=?[r1?r2?r3;?r4?r5?r6;?r7?r8?r9];?????????????（2）
%??????????????[x?y?z]‘?=?R?*?[xw?yw?zw]‘?+?T??????????????????（1）
%?T????????????這是一個(gè)平移向量
%??????????????=?[Tx?Ty?Tz]‘?????????????????????????????????????（3）
%?f????????????是有效的焦距
%?Dx???????????=?Xd*（?k1*r^2?+?k2*r^4?+?...?）??????????????????????P327
%??????????????Xd+Dx=Xu????????????????????????????????????????????（5a）
%?Dy???????????=?Yd*（?k1*r^2?+?k2*r^4?+?...?）??????????????????????P327
%??????????????Yd+Dy=Yu????????????????????????????????????????????（5b）
%?r????????????=?（Xd^2?+?Yd^2）^（0.5）???????????????????????????????P327
%?k1???????????是畸變系數(shù)
%??????????????Xf??=?sx?*?dxp^（-1）?*?Xd?+?Cx??????????????????????（6a）
%??????????????Yf??=?dy^（-1）?*?Yd?+?Cy????????????????????????????（6b）
%??????????????dxp?=?dx?*?Ncx?/?Nfx???????????????????????????????（6d）
%?dx???????????is?the?center?to?center?distance?between?adjacent?sensor?elements?in?X?（scan?line）?diretion
%?dy???????????is?the?center?to?center?distance?between?adjacent?CCD?sensor?in?the?Y?direction
%?Ncx??????????is?the?number?of?sensor?elements?in?the?X?direction
%?Nfx??????????is?the?number?of?pixels?in?a?line?as?sampled?by?the?computer
%?sx???????????不確定性圖像尺度因子
%?X????????????=?（Xd?*?Nfx）?/?（dx?*?Ncx）??????????????????????????P328
%?X????????????=?Xf?-?Cx??????????????????????????????????????????P328
%?Y????????????=?Yf?-?Cy??????????????????????????????????????????P328
%??????????????s_x^（-1）?*?d_x‘?*?X?+?s_z^（-1）?*?d_x‘?*?X?*?k1?*?r^2?=?f*x/z???????（7a）
%??????????????d_x‘?*?Y?+?d_y?*?Y?*?k1?*?r^2?=?f?*?y/z????????????????????????（7b）
%??????????????r?=?（?（?s_x^（-1）*d_x‘*?X?）^2?+?（d_x?*?Y）^2?）^（0.5）????????
%??????????????s_x^（-1）*d_x‘*?X?+?s_x^（-1）?*?d_x‘*?X?*?k1?*?r^2?=?f*（?r1*x_w?+?r2?*?y_w?+?r3?*?z_w?+
%??????????????T_x）?/?（r7?*?x_w?+?r8?*?y_w?+?r9?*?z_w?+?Tz）??????????????????（8a）
%??????????????dy?*?Y?+?dy?*?Y?*?k1?*?r^2?=?f?*?（r1?*?x_w?+?r2?*?y_w?+?r3?*?z_w?+?
%??????????????Tx）?/?（r7*xw?+?r8*yw?+?r9*zw?+Tz）??????????????????（8b）
%?Since?the?calibration?points?are?on?a?common?plane?the?（xw?yw?zw）?coordinate?system?can?be?chosen?such?that?zw=0?and?the?
%?corigin?is?not?lose?to?the?center?of?the?view?or?y?axis?of?t

?屬性????????????大小?????日期????時(shí)間???名稱
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?????文件???????4936??2017-09-04?19:54??DLT（matlab版本）\My_DLT_Fcn.m

?????文件???????1826??2017-08-28?10:02??DLT（matlab版本）\testPoint.mat

?????目錄??????????0??2017-09-06?10:53??DLT（matlab版本）

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?????????????????6762????????????????????3