function?M=line_calibration（）
tic
%imgPoint圖像坐標系中的點
imgPoint=[200.5	68.6	1
200.5	85.9	1
200.5	103.3	1
200.5	120.7	1
200.4	138.1	1
200.5	155.5	1
217.8	68.5	1
217.9	85.8	1
217.9	103.2	1
217.8	120.6	1
217.8	138.1	1
217.8	155.5	1
235.2	68.5	1
235.2	85.8	1
235.3	103.2	1
235.3	120.6	1
235.2	138.1	1
235.3	155.5	1
252.5	68.4	1
252.6	85.7	1
252.6	103.1	1
252.6	120.6	1
252.6	138.2	1
252.6	155.5	1
269.9	68.3	1
269.9	85.6	1
269.9	102.9	1
270.0	120.5	1
270.0	137.9	1
270.1	155.4	1
287.3	68.2	1
287.4	85.5	1
287.4	102.8	1
287.4	120.4	1
287.5	137.8	1
287.5	155.3	1
304.7	67.9	1
304.8	85.4	1
304.8	102.7	1
304.9	120.2	1
304.8	137.8	1
305.0	155.1	1
322.3	67.7	1
322.3	85.1	1
322.4	102.5	1
322.4	120.0	1
322.4	137.5	1
322.5	154.9	1];
%世界坐標系中的點
wPoint=[193.9?138.5?1
193.9?110.8?1
193.9?83.1?1
193.9?55.4?1
193.9?27.7?1
193.9?0?1
166.2?138.5?1
166.2?110.8?1
166.2?83.1?1
166.2?55.4?1
166.2?27.7?1
166.2?0?1
138.5?138.5?1
138.5?110.8?1
138.5?83.1?1
138.5?55.4?1
138.5?27.7?1
138.5?0?1
110.8?138.5?1
110.8?110.8?1
110.8?83.1?1
110.8?55.4?1
110.8?27.7?1
110.8?0?1
83.1?138.5?1
83.1?110.8?1
83.1?83.1?1
83.1?55.4?1
83.1?27.7?1
83.1?0?1
55.4?138.5?1
55.4?110.8?1
55.4?83.1?1
55.4?55.4?1
55.4?27.7?1
55.4?0?1
27.7?138.5?1
27.7?110.8?1
27.7?83.1?1
27.7?55.4?1
27.7?27.7?1
27.7?0?1
0?138.5?1
0?110.8?1
0?83.1?1
0?55.4?1
0?27.7?1
0?0?1];
NumOfPoint?=?length（imgPoint）;
K=zeros（2*NumOfPoint?8）;
U=zeros（2*NumOfPoint?1）;
%設置K
for?i=1:NumOfPoint
????K（2*i-1:）=[wPoint（i1）?wPoint（i2）?1?0?0?0?-1*imgPoint（i1）*wPoint（i1）?-1*imgPoint（i1）*wPoint（i2）];
????K（2*i:）=[0?0?0?wPoint（i1）?wPoint（i2）?1?-1*imgPoint（i2）*wPoint（i1）?-1*imgPoint（i2）*wPoint（i2）];
end
%設置U
for?i=1:NumOfPoint
????U（2*i-1）=imgPoint（i1）;
????U（2*i）=imgPoint（i2）;
end
%最小二乘法解線性方程組
m=inv（K‘*K）*K‘*U;
M=[m（1）?m（2）?m（3）
???m（4）?m（5）?m（6）
???m（7）?m（8）?1.0];
%由圖像點計算實際點坐標
CptwPoint=zeros（3NumOfPoint）;
IM=inv（M）;
CptwPoint=IM*imgPoint‘;
%normalize
for?i=1:NumOfPoint
????CptwPoint（:i）=[CptwPoint（1i）/CptwPoint（3i）;CptwPoint（2i）/CptwPoint（3i）;1.0];
end
%畫圖做比較
plot（wPoint（:1）?wPoint（:2）‘*b‘）;
hold?on;
plot（CptwPoint（1:）?CptwPoint（2:）‘+g‘）;
hold?off;
%誤差比較
cwPoint=wPoint‘;
err=zeros（3NumOfPoint）;
for?i=1:NumOfPoint
????err（:i）=[CptwPoint（1i）-cwPoint（1i）;CptwPoint（2i）-cwPoint（2i）;0];
end
a=0;
for?i=1:NumOfPoint
????a=a+err（1i）;
end
x_=a/48;
a=0;
for?i=1:NumOfPoint
????a=a+err（2i）;
end
y_=a/48;
if?x_<0.000001
????x_=0;
end
if?y_<0.000001
????y_=0;
end
errx=0;
for?i=1:NumOfPoint
??errx=errx+（err（1i）-x_）^2;
end
errx=sqrt（errx/48）;
erry=0;
for?i=1:NumOfPoint
??erry=erry+（err（2i）-y_）^2;
end
erry=sqrt（erry/48）;
err=[errxerry]
toc

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????2819??2010-03-17?10:00??line_calibration.m

?????文件???????3839??2010-03-17?10:01??matrix_projection.m

?????文件???????3060??2010-03-17?10:09??line_distortion.m

-----------?---------??----------?-----??----

?????????????????9718????????????????????3