?? axb.m
字號:
clc;
clear;
x1=[0 0.5 0.5
-0.5 -0.5 0
1 1 1 ];
x2=[ 63.43 92.46 91.8
405.5 407.45 438.65
1 1 1 ];
Npts = length(x1);
A = zeros(3*Npts,9);
O = [0 0 0];
for n = 1:Npts
X = x1(:,n)';%定義
x = x2(1,n); y = x2(2,n); w = x2(3,n);
A(3*n-2,:) = [ O -w*X y*X];
A(3*n-1,:) = [ w*X O -x*X];
A(3*n ,:) = [-y*X x*X O ]
A
end
[U,D,V] = svd(A);
U
D
V
% Ax=b x=A\b;
% Extract homography單應性矩陣
H1 = reshape(V(:,9),3,3)';
H=H1/H1(3,3)
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