经典手眼标定算法matlab代码

经典手眼标定算法matlab代码，程序作者为 Christian Wengert 。工具箱包含的主要算法有Tsai-Lenz算法、NAVY算法（Park）、INRIA算法（Horaud）以及对偶四元数手眼定标算法。

function [xd xp] = addDistortion（xfccckc）    
    
    m = length（x）;
    for j=1:m %length（x）
        %Radial stuff
        r2 = x（1j）^2+x（2j）^2;
        %Tangential stuff
        dx = [  2*kc（3）*x（1j）*x（2j）+kc（4）*（r2+2*x（1j）^2）;...
                kc（3）*（r2+2*x（2j）^2）+2*kc（4）*x（1j）*x（2j）];
        %Putting all together
        xd（:j） = （1+kc（1）*r2+kc（2）*r2^2+kc（5）*r2^3）*x（1:2j）+dx+[cc（1）;cc（2）];
        xp（:j） = x（:j）+[cc（1）;cc（2）;1];
    end

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2008-03-12 15:28  calib_toolbox_addon\
     文件         805  2006-10-25 08:14  calib_toolbox_addon\crossprod.m
     文件        4193  2008-03-12 14:38  calib_toolbox_addon\getNextPoint.m
     文件         217  2006-10-27 08:19  calib_toolbox_addon\averageTransformation.m
     文件         402  2006-10-27 08:19  calib_toolbox_addon\averageRotation.m
     文件         638  2008-03-12 14:38  calib_toolbox_addon\getClosestPointToLine.m
     文件          89  2006-10-27 08:24  calib_toolbox_addon\distToLine.m
     文件         154  2006-10-27 08:24  calib_toolbox_addon\angle2Vect.m
     文件         409  2006-10-27 08:24  calib_toolbox_addon\getClosestNeighbours.m
     文件        2074  2008-03-12 14:38  calib_toolbox_addon\getNextPointstart.m
     文件         716  2006-10-30 09:39  calib_toolbox_addon\backprojectDistorted.m
     文件         749  2006-10-30 09:40  calib_toolbox_addon\normalizeHomogenousCoordinates.m
     文件         476  2006-10-30 09:40  calib_toolbox_addon\addDistortion.m
     文件        1574  2006-10-30 09:42  calib_toolbox_addon\draw2DPoints.m
     目录           0  2006-10-09 09:14  calib_toolbox_addon\example1\
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0000.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0001.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0002.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0003.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0004.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0005.bmp
     文件     1327158  2006-10-09 09:14  calib_toolbox_addon\example1\0006.bmp
     目录           0  2006-10-09 08:29  calib_toolbox_addon\example2\
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0001.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0002.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0003.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0004.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0005.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0006.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0007.ppm
     文件     1440015  2006-10-09 07:58  calib_toolbox_addon\example2\0008.ppm
............此处省略27个文件信息