%????[?Xw?Yw?Zw]?=?biaoding?（xf?yf?Ncx?Nfx?dxdyCx?Cy?sxRTfk1）
%?????Note:????????xf?xf?Xw?Yw?Yw?are?all?column?vectors

function?[?Xw?Yw]?=?biaoding?（xf?yf?Ncx?Nfx?dx?dy?Cx?Cy?sxRTfk1）
?
?dxp?=?dx?*?Ncx?/?Nfx;
?X?=?xf?-?Cx;
?Y?=?yf?-?Cy;
?Xd=sx^（-1）*dxp*X;
?Yd=dy*Y;
?r=?（Xd.^2?+?Yd.^2）.^（0.5）???
?Dx=?Xd.*（（r.^2）*k1）?;??????????????????
?Xu=Xd+Dx;???????????????????????????????????????????
?Dy=?Yd.*（（r.^2）?*k1）?;????????????????????????????????
?Yu=Yd+Dy?;
?
r1=R（11）;
r2=R（12）;
r3=R（13）;
r4=R（21）;
r5=R（22）;
r6=R（23）;
r7=R（31）;
r8=R（32）;
r9=R（33）;

?Tx=T（11）;
?Ty=T（21）;
?Tz=T（31）;
?
???a=length（xf）;
for?i=1:a
????Xu1=Xu（i1）;
????Yu1=Yu（i1）;
??
Xw（i1）=[?（-f*r5*Tx+f*Ty*r2+Yu1*r8*Tx-Yu1*Tz*r2+r5*Xu1*Tz-Ty*Xu1*r8）/（-Xu1*r7*r5-r1*Yu1*r8+r1*f*r5+Xu1*r8*r4+r2*Yu1*r7-r2*f*r4）]
Yw（i1）=[?-（-Xu1*r7*Ty-r1*Yu1*Tz+r1*f*Ty+Xu1*Tz*r4+Tx*Yu1*r7-Tx*f*r4）/（-Xu1*r7*r5-r1*Yu1*r8+r1*f*r5+Xu1*r8*r4+r2*Yu1*r7-r2*f*r4）];
end



?
?
?
?
?
?
?
?
?
?
?

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

?????文件???????1036??2008-07-03?01:01??matlab?Tsai??標定\matlab?Tsai??標定\biaoding.m

?????文件??????????7??2012-03-07?14:34??matlab?Tsai??標定\matlab?Tsai??標定\f.txt

?????文件??????????9??2012-03-07?14:34??matlab?Tsai??標定\matlab?Tsai??標定\k1.txt

?????文件?????????76??2012-03-07?14:34??matlab?Tsai??標定\matlab?Tsai??標定\R.txt

?????文件????????100??2008-07-02?23:49??matlab?Tsai??標定\matlab?Tsai??標定\shijie1.txt

?????文件?????????23??2012-03-07?14:34??matlab?Tsai??標定\matlab?Tsai??標定\T.txt

?????文件????????376??2008-07-05?14:48??matlab?Tsai??標定\matlab?Tsai??標定\testData.m

?????文件????????349??2008-07-05?15:03??matlab?Tsai??標定\matlab?Tsai??標定\translation.m

?????文件???????7407??2008-07-03?00:16??matlab?Tsai??標定\matlab?Tsai??標定\Tsai.m

?????文件????????996??2012-03-07?14:35??matlab?Tsai??標定\matlab?Tsai??標定\Tsai_8b.m

?????文件????????101??2008-07-02?23:46??matlab?Tsai??標定\matlab?Tsai??標定\tuxiang1.txt

?????目錄??????????0??2012-03-10?16:24??matlab?Tsai??標定\matlab?Tsai??標定

?????目錄??????????0??2012-03-07?14:35??matlab?Tsai??標定

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

????????????????10480????????????????????13