#include?“linearMethod.h“

VectorXf?setvij（const?MatrixXf&?homogrph?int?i?int?j）
{
	VectorXf?vij（6）;
	i?=?i-1;
	j?=?j-1;
	vij（0）?=?homogrph（0i）*homogrph（0j）;
	vij（1）?=?homogrph（0i）*homogrph（1j）+homogrph（1i）*homogrph（0j）;
	vij（2）?=?homogrph（1i）*homogrph（1j）;
	vij（3）?=?homogrph（0i）*homogrph（2j）+homogrph（2i）*homogrph（0j）;
	vij（4）?=?homogrph（1i）*homogrph（2j）+homogrph（2i）*homogrph（1j）;
	vij（5）?=?homogrph（2i）*homogrph（2j）;
	return?vij;
}

MatrixXf?solve_homogrph（const?Mat&?I?const?int&?row_corners?const?int&?col_corners?const?float&?width）
{
	//?find?the?corners?in?image?space
	Mat?corners;
	bool?isfind?=?findChessboardCorners（I?Size（row_corners?col_corners）?corners）;
	if（!isfind）
	{
		cout<<“Could?not?find?chessboard?corners!“<		return?MatrixXf::Zero（33）;
	}
	//?generate?the?3D?object?coordinates
	vector?points3D;
	for?（int?i?=?0;?i?		for?（int?j?=?0;?j?			points3D.push_back（Vector3f（j?*?width?i?*?width?0））;
		}
	}
	vector?points2D;
	for?（int?i?=?0;?i?		Vec2f?pos?=?corners.at（i?0）;
		points2D.push_back（Vector2f（pos[0]?pos[1]））;
	}

	//?solve?the?matrix?M
	MatrixXf?A?=?MatrixXf::Zero（points3D.size（）?*?2?9）;
	for?（int?i?=?0;?i?		A（i?*?2?+?0?0）?=?points3D[i][0];
		A（i?*?2?+?0?1）?=?points3D[i][1];
		A（i?*?2?+?0?2）?=?1;
		A（i?*?2?+?0?6）?=?-points2D[i][0]?*?points3D[i][0];
		A（i?*?2?+?0?7）?=?-points2D[i][0]?*?points3D[i][1];
		A（i?*?2?+?0?8）?=?-points2D[i][0];

		A（i?*?2?+?1?3）?=?points3D[i][0];
		A（i?*?2?+?1?4）?=?points3D[i][1];
		A（i?*?2?+?1?5）?=?1;
		A（i?*?2?+?1?6）?=?-points2D[i][1]?*?points3D[i][0];
		A（i?*?2?+?1?7）?=?-points2D[i][1]?*?points3D[i][1];
		A（i?*?2?+?1?8）?=?-points2D[i][1];
	}
	JacobiSVD?h_svd（A?ComputeThinU?|?ComputeThinV）;
	//?cout<<“A“<
	//?cout?<	//?MatrixXf?temp（h_svd.singularValues（）.asDiagonal（））;
	//?cout?<

	MatrixXf::Index?minIndex;
	h_svd.singularValues（）.minCoeff（&minIndex）;		//最小特征值所在的行號
	VectorXf?h?=?h_svd.matrixV（）.col（minIndex）;

	//?cout<<“Index?is?“<	//?cout?<	//?cout?<	//?cout?<
	const?int?h_rows?=?3;
	const?int?h_cols?=?3;
	MatrixXf?homogrph（h_rowsh_cols）;
	for（int?row=0;?row		for（int?col=0;?col			homogrph（row?col）?=?h（row*h_cols+col）;
	//?cout<<“Matrix?homogrph?“<
	return?homogrph;
}

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

?????文件????????776??2018-05-17?01:29??Calibration\CMakeLists.txt

?????文件???????3501??2017-06-15?15:10??Calibration\cmake_modules\FindEigen3.cmake

?????文件?????163774??2018-05-16?13:44??Calibration\img\1.jpg

?????文件?????199547??2018-05-16?13:44??Calibration\img\10.jpg

?????文件?????198330??2018-05-16?13:44??Calibration\img\11.jpg

?????文件?????173529??2018-05-16?13:44??Calibration\img\12.jpg

?????文件?????178730??2018-05-16?13:44??Calibration\img\2.jpg

?????文件?????181272??2018-05-16?13:44??Calibration\img\3.jpg

?????文件?????180693??2018-05-16?13:44??Calibration\img\4.jpg

?????文件?????180164??2018-05-16?13:44??Calibration\img\5.jpg

?????文件?????184916??2018-05-16?13:44??Calibration\img\6.jpg

?????文件?????182973??2018-05-16?13:44??Calibration\img\7.jpg

?????文件?????195530??2018-05-16?13:44??Calibration\img\8.jpg

?????文件?????168912??2018-05-16?13:44??Calibration\img\9.jpg

?????文件?????195530??2018-05-16?13:44??Calibration\img\vanishingPoint_1.jpg

?????文件?????168912??2018-05-16?13:44??Calibration\img\vanishingPoint_2.jpg

?????文件?????199547??2018-05-16?13:44??Calibration\img\vanishingPoint_3.jpg

?????文件?????198330??2018-05-16?13:44??Calibration\img\vanishingPoint_4.jpg

?????文件???????2807??2018-05-17?16:16??Calibration\linearMethod.cpp

?????文件????????343??2018-05-17?01:18??Calibration\linearMethod.h

?????文件???????7767??2018-05-20?18:57??Calibration\main_calibration.cpp

?????文件????????201??2018-05-17?01:37??Calibration\README

?????文件?????832486??2018-05-16?19:27??Calibration\Reference\基于兩滅點法的攝像機標定方法研究_胡桂廷.pdf

?????文件????1141186??2018-05-17?15:55??Calibration\Reference\基于正交消失點對的攝像機標定方法_陳愛華.pdf

?????文件?????406818??2018-05-14?15:19??Calibration\Reference\張正友標定相機.pdf

?????文件??????10532??2018-05-18?16:18??Calibration\vanishingPointMethod.cpp

?????文件???????1006??2018-05-18?15:40??Calibration\vanishingPointMethod.h

?????目錄??????????0??2019-03-05?15:46??Calibration\cmake_modules

?????目錄??????????0??2019-03-05?15:46??Calibration\img

?????目錄??????????0??2019-03-05?15:46??Calibration\Reference

............此處省略4個文件信息