function?[R?t?Qout?err2]?=?abskernel（P?Q?F?G?method）
%?ABSKERNEL?-??Absolute?orientation?kernel
%???ABSKERNEL?is?the?function?for?solving?the
%???intermediate?absolute?orientation?problems
%???in?the?inner?loop?of?the?OI?pose?estimation
%???algorithm
%
%???INPUTS:
%?????P?-?the?reference?point?set?arranged?as?a?3xn?matrix
%?????Q?-?the?point?set?obtained?by?transforming?P?with
%?????????some?pose?estimate?（typically?the?last?estimate）
%?????F?-?the?array?of?projection?matrices?arranged?as
%?????????a?3x3xn?array
%?????G?-?a?matrix?precomputed?for?calculating?t
%?????method?-?‘SVD‘??->?use?SVD?solution?for?rotation
%??????????????‘QTN‘?->?use?quaterion?solution?for?rotation
%
%
%???OUTPUTS:
%?????R?-?estimated?rotation?matrix
%?????t?-?estimated?translation?vector
%?????Qout?-?the?point?set?obtained?by?transforming?P?with
%?????????newest?pose?estimate
%?????err2?-?sum?of?squared?object-space?error?associated?
%?????????with?the?estimate

n?=?size（P2）;

for?i?=?1:n
??Q（:i）?=?F（::i）*Q（:i）;
end

%?compute?P‘?and?Q‘
pbar?=?sum（P2）/n;
qbar?=?sum（Q2）/n;
for?i?=?1:n
??P（:i）?=?P（:i）-pbar;
??Q（:i）?=?Q（:i）-qbar;
end

if?method?==?‘SVD‘?%?use?SVD?solution
??%?compute?M?matrix
??M（1:31:3）?=?0;
??for?i?=?1:n
????M?=?M+P（:i）*Q（:i）.‘;
??end
??
??%?calculate?SVD?of?M
??[USV]?=?svd（M）;
??
??%?compute?rotation?matrix?R
??R?=?V*（U.‘）;
elseif?method?==?‘QTN‘?%?use?quaternion?solution
??%?compute?M?matrix
??A（1:41:4）?=?0;
??for?i?=?1:n
????A?=?A?+?qmatQ（[1;Q（:i）]）.‘*qmatW（[1;P（:i）]）;
??end
??
??%?Find?the?largest?eigenvalue?of?A?
??eigs_options.disp?=?0;
??[VD]?=?eigs（A?eye（size（A））?1?‘LM‘?eigs_options）;
??
??%?compute?rotation?matrix?R?from?the?quaternion?that
??%?corresponds?to?the?largest?egienvalue?of?A
??R?=?quat2mat（V）;
end

sum（1:31）?=?0;
for?i?=?1:n
??sum?=?sum?+?F（::i）*R*P（:i）;
end
t?=?G*sum;

Qout?=?xform（P?R?t）;

%?calculate?error
err2?=?0;
vec（1:31）?=?0;
for?i?=?1?:?n
??vec?=?（eye（3）-F（::i））*Qout（:i）;
??err2?=?err2?+?dot（vecvec）;
end

%?end?of?ABSKERNEL

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----

?????文件???????2104??2015-08-05?16:22??正交迭代OI算法\abskernel.m

?????文件????????716??1999-11-18?11:27??正交迭代OI算法\abspose.m

?????文件????????754??1999-11-18?11:27??正交迭代OI算法\euler2mat.m

?????文件???????1540??2015-08-11?11:10??正交迭代OI算法\ghtest.m

?????文件????????391??1999-11-18?11:27??正交迭代OI算法\mat2euler.m

?????文件????????390??1999-11-18?11:27??正交迭代OI算法\mat2rot.m

?????文件???????5907??2015-08-11?16:36??正交迭代OI算法\objpose.m

?????文件????????203??1999-11-25?08:42??正交迭代OI算法\qmatQ.m

?????文件????????205??1999-11-25?08:44??正交迭代OI算法\qmatW.m

?????文件????????293??1999-11-30?10:22??正交迭代OI算法\quat2mat.m

?????文件????????431??1999-11-18?11:27??正交迭代OI算法\randrotmat.m

?????文件????????406??1999-11-18?11:27??正交迭代OI算法\rot2mat.m

?????文件????????225??1999-11-20?02:49??正交迭代OI算法\xform.m

?????文件????????357??1999-11-20?02:49??正交迭代OI算法\xformproj.m

?????目錄??????????0??2015-08-13?19:00??正交迭代OI算法

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

????????????????13922????????????????????15