Tsai标定方法matlab代码

计算机视觉中的标定，所用的方法为Tsai的标定方法，用Matlab进行仿真。

clc
clear all
x=load（‘WordCoordinate.txt‘）;
X=load（‘ImageCoordinate.txt‘）;
Xf=X（:1）;
Yf=X（:2）;
xw=x（:1）+999;
yw=x（:2）+999;
[MN]=size（x）;
zw=zeros（M1）;
Ncx=1;
Nfx=1;
Cx=1936;
Cy=1296;
% dx=0.0044708;
% dy=0.0044708;
% dx=0.0061;  %23.6/3872
% dy=0.0061;
dx=1;
dy=1;
sx=1;
[R T f k1] = Tsai（Xf Yf xw yw zw Ncx Nfx dx dy Cx Cy sx）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%                 以下为误差测试                   %%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
R_Linshi=R;
R_Linshi=R_Linshi‘;
fid=fopen（‘源代码测试自己数据结果.txt‘‘wt‘）;
fprintf（fid‘%s\n‘‘R=‘）;
fprintf（fid‘%5.4f      %5.4f     %5.4f\n‘R_Linshi（:））;
fprintf（fid‘%s\n‘‘T=‘）;
fprintf（fid‘%e      %e     %e\n‘T（:））;
fprintf（fid‘%s\n‘‘f=‘）;
fprintf（fid‘%s\n‘num2str（f））;
fprintf（fid‘%s\n‘‘k1=‘）;
fprintf（fid‘%e\n‘k1）;
Xw_test=[4 12 7 15 2 10 8 12 6 14 4 10 16 

 属性            大小     日期    时间   名称
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     文件        420  2012-11-27 16:18  源代码\ImageCoordinate.txt

     文件       2599  2012-11-27 16:18  源代码\testData.m

     文件       7541  2012-11-27 16:18  源代码\Tsai.m

     文件       1098  2012-11-27 16:18  源代码\Tsai_8b.m

     文件        128  2012-11-27 16:18  源代码\WordCoordinate.txt

     目录          0  2012-12-11 17:09  源代码

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